./PaxHeaders.3947/control-3.2.00000644000000000000000000000013213450727360012746 xustar0030 mtime=1554231024.597428938 30 atime=1554231028.525576056 30 ctime=1554231028.525576056 control-3.2.0/0000755000175000017500000000000013450727360013127 5ustar00olafolaf00000000000000control-3.2.0/PaxHeaders.3947/src0000644000000000000000000000013213450727364013404 xustar0030 mtime=1554231028.525576056 30 atime=1554231028.525576056 30 ctime=1554231028.525576056 control-3.2.0/src/0000755000175000017500000000000013450727364013722 5ustar00olafolaf00000000000000control-3.2.0/src/PaxHeaders.3947/sl_sb10ad.cc0000644000000000000000000000013213450727360015534 xustar0030 mtime=1554231024.705433061 30 atime=1554231024.705433061 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb10ad.cc0000644000175000017500000002135013450727360015776 0ustar00olafolaf00000000000000/* Copyright (C) 2014-2015 Thomas Vasileiou This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . H-infinity optimal controller using modified Glover's and Doyle's formulas (continuous-time). Uses SLICOT SB10AD by courtesy of NICONET e.V. Author: Thomas Vasileiou Created: January 2014 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (sb10ad, SB10AD) (F77_INT& JOB, F77_INT& N, F77_INT& M, F77_INT& NP, F77_INT& NCON, F77_INT& NMEAS, double& GAMMA, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* AK, F77_INT& LDAK, double* BK, F77_INT& LDBK, double* CK, F77_INT& LDCK, double* DK, F77_INT& LDDK, double* AC, F77_INT& LDAC, double* BC, F77_INT& LDBC, double* CC, F77_INT& LDCC, double* DC, F77_INT& LDDC, double* RCOND, double& GTOL, double& ACTOL, F77_INT* IWORK, F77_INT& LIWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& LBWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb10ad__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb10ad__, args, nargout, "-*- texinfo -*-\n\ Slicot SB10AD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 9) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); F77_INT ncon = args(4).int_value (); F77_INT nmeas = args(5).int_value (); double gamma = args(6).double_value (); double gtol = args(7).double_value (); double actol = args(8).double_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT np = TO_F77_INT (c.rows ()); // np: number of outputs F77_INT lda = max (1, TO_F77_INT (a.rows ())); F77_INT ldb = max (1, TO_F77_INT (b.rows ())); F77_INT ldc = max (1, TO_F77_INT (c.rows ())); F77_INT ldd = max (1, TO_F77_INT (d.rows ())); F77_INT ldak = max (1, n); F77_INT ldbk = max (1, n); F77_INT ldck = max (1, ncon); F77_INT lddk = max (1, ncon); F77_INT ldac = max (1, 2*n); F77_INT ldbc = max (1, 2*n); F77_INT ldcc = max (1, np-nmeas); F77_INT lddc = max (1, np-nmeas); F77_INT job = 1; // arguments out Matrix ak (ldak, n); Matrix bk (ldbk, nmeas); Matrix ck (ldck, n); Matrix dk (lddk, nmeas); Matrix ac (ldac, 2*n); Matrix bc (ldbc, m-ncon); Matrix cc (ldcc, 2*n); Matrix dc (lddc, m-ncon); ColumnVector rcond (4); // workspace F77_INT m2 = ncon; F77_INT m1 = m - m2; F77_INT np2 = nmeas; F77_INT np1 = np - np2; F77_INT nd1 = np1 - m2; F77_INT nd2 = m1 - np2; F77_INT liwork = max (2*max (n, m-ncon, np-nmeas, ncon, nmeas), n*n); F77_INT lw1 = n*m + np*n + np*m + m2*m2 + np2*np2; F77_INT lw2 = max ((n + np1 + 1)*(n + m2) + max (3*(n + m2) + n + np1, 5*(n + m2)), (n + np2)*(n + m1 + 1) + max (3*(n + np2) + n + m1, 5*(n + np2)), m2 + np1*np1 + max (np1*max (n, m1), 3*m2 + np1, 5*m2), np2 + m1*m1 + max (max (n, np1)*m1, 3*np2 + m1, 5*np2)); F77_INT lw3 = max (nd1*m1 + max (4*min (nd1, m1) + max (nd1,m1), 6*min (nd1, m1)), np1*nd2 + max (4*min (np1, nd2) + max (np1, nd2), 6*min (np1, nd2))); F77_INT lw4 = 2*m*m + np*np + 2*m*n + m*np + 2*n*np; F77_INT lw5 = 2*n*n + m*n + n*np; F77_INT lw6 = max (m*m + max (2*m1, 3*n*n + max (n*m, 10*n*n + 12*n + 5)), np*np + max (2*np1, 3*n*n + max (n*np, 10*n*n + 12*n + 5))); F77_INT lw7 = m2*np2 + np2*np2 + m2*m2 + max (nd1*nd1 + max (2*nd1, (nd1 + nd2)*np2), nd2*nd2 + max (2*nd2, nd2*m2), 3*n, n*(2*np2 + m2) + max (2*n*m2, m2*np2 + max (m2*m2 + 3*m2, np2*(2*np2 + m2 + max (np2, n))))); F77_INT ldwork = lw1 + max (1, lw2, lw3, lw4, lw5 + max (lw6,lw7)); F77_INT lbwork = 2*n; OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, lbwork); // error indicator F77_INT info; // SLICOT routine SB10AD F77_XFCN (sb10ad, SB10AD, (job, n, m, np, ncon, nmeas, gamma, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, ak.fortran_vec (), ldak, bk.fortran_vec (), ldbk, ck.fortran_vec (), ldck, dk.fortran_vec (), lddk, ac.fortran_vec (), ldac, bc.fortran_vec (), ldbc, cc.fortran_vec (), ldcc, dc.fortran_vec (), lddc, rcond.fortran_vec (), gtol, actol, iwork, liwork, dwork, ldwork, bwork, lbwork, info)); if (f77_exception_encountered) error ("hinfsyn: __sl_sb10ad__: exception in SLICOT subroutine SB10AD"); static const char* err_msg[] = { "0: successful exit", "1: the matrix [A-j*omega*I, B2; C1, D12] had " "not full column rank in respect to the tolerance EPS", "2: the matrix [A-j*omega*I, B1; C2, D21] " "had not full row rank in respect to the tolerance EPS", "3: the matrix D12 had not full column rank in " "respect to the tolerance SQRT(EPS)", "4: the matrix D21 had not full row rank in respect " "to the tolerance SQRT(EPS)", "5: the singular value decomposition (SVD) algorithm " "did not converge (when computing the SVD of one of the matrices " "[A, B2; C1, D12], [A, B1; C2, D21], D12 or D21)", "6: the controller is not admissible (too small value " "of gamma)", "7: the X-Riccati equation was not solved " "successfully (the controller is not admissible or " "there are numerical difficulties)", "8: the Y-Riccati equation was not solved " "successfully (the controller is not admissible or " "there are numerical difficulties)", "9: the determinant of Im2 + Tu*D11HAT*Ty*D22 is " "zero [3]", "10: there was numerical problems when estimating" "the singular values of D1111, D1112, D1111', D1121'", "11: the matrices Inp2 - D22*DK or Im2 - DK*D22" "are singular to working precision", "12: a stabilizing controller cannot be found"}; error_msg ("hinfsyn", info, 12, err_msg); // return values retval(0) = ak; retval(1) = bk; retval(2) = ck; retval(3) = dk; retval(4) = ac; retval(5) = bc; retval(6) = cc; retval(7) = dc; retval(8) = gamma; retval(9) = rcond; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb10fd.cc0000644000000000000000000000013213450727360015541 xustar0030 mtime=1554231024.709433214 30 atime=1554231024.709433214 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb10fd.cc0000644000175000017500000001447413450727360016014 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . H-infinity (sub)optimal state controller for a continuous-time system. Uses SLICOT SB10FD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: December 2009 Version: 0.6 */ #include #include "common.h" extern "C" { int F77_FUNC (sb10fd, SB10FD) (F77_INT& N, F77_INT& M, F77_INT& NP, F77_INT& NCON, F77_INT& NMEAS, double& GAMMA, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* AK, F77_INT& LDAK, double* BK, F77_INT& LDBK, double* CK, F77_INT& LDCK, double* DK, F77_INT& LDDK, double* RCOND, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb10fd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb10fd__, args, nargout, "-*- texinfo -*-\n\ Slicot SB10FD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 7) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); F77_INT ncon = args(4).int_value (); F77_INT nmeas = args(5).int_value (); double gamma = args(6).double_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT np = TO_F77_INT (c.rows ()); // np: number of outputs F77_INT lda = max (1, TO_F77_INT (a.rows ())); F77_INT ldb = max (1, TO_F77_INT (b.rows ())); F77_INT ldc = max (1, TO_F77_INT (c.rows ())); F77_INT ldd = max (1, TO_F77_INT (d.rows ())); F77_INT ldak = max (1, n); F77_INT ldbk = max (1, n); F77_INT ldck = max (1, ncon); F77_INT lddk = max (1, ncon); double tol = 0; // arguments out Matrix ak (ldak, n); Matrix bk (ldbk, nmeas); Matrix ck (ldck, n); Matrix dk (lddk, nmeas); ColumnVector rcond (4); // workspace F77_INT m2 = ncon; F77_INT m1 = m - m2; F77_INT np1 = np - nmeas; F77_INT np2 = nmeas; F77_INT liwork = max (2*max (n, m-ncon, np-nmeas, ncon), n*n); F77_INT q = max (m1, m2, np1, np2); F77_INT ldwork = 2*q*(3*q+2*n) + max (1, (n+q)*(n+q+6), q*(q + max (n, q, 5) + 1), 2*n*(n+2*q) + max (1, 4*q*q + max (2*q, 3*n*n + max (2*n*q, 10*n*n+12*n+5)), q*(3*n + 3*q + max (2*n, 4*q + max (n, q))))); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, 2*n); // error indicator F77_INT info; // SLICOT routine SB10FD F77_XFCN (sb10fd, SB10FD, (n, m, np, ncon, nmeas, gamma, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, ak.fortran_vec (), ldak, bk.fortran_vec (), ldbk, ck.fortran_vec (), ldck, dk.fortran_vec (), lddk, rcond.fortran_vec (), tol, iwork, dwork, ldwork, bwork, info)); if (f77_exception_encountered) error ("hinfsyn: __sl_sb10fd__: exception in SLICOT subroutine SB10FD"); static const char* err_msg[] = { "0: OK", "1: the matrix [A-j*omega*I, B2; C1, D12] had " "not full column rank in respect to the tolerance EPS", "2: the matrix [A-j*omega*I, B1; C2, D21] " "had not full row rank in respect to the tolerance EPS", "3: the matrix D12 had not full column rank in " "respect to the tolerance TOL", "4: the matrix D21 had not full row rank in respect " "to the tolerance TOL", "5: the singular value decomposition (SVD) algorithm " "did not converge (when computing the SVD of one of the matrices " "[A, B2; C1, D12], [A, B1; C2, D21], D12 or D21)", "6: the controller is not admissible (too small value " "of gamma)", "7: the X-Riccati equation was not solved " "successfully (the controller is not admissible or " "there are numerical difficulties)", "8: the Y-Riccati equation was not solved " "successfully (the controller is not admissible or " "there are numerical difficulties)", "9: the determinant of Im2 + Tu*D11HAT*Ty*D22 is " "zero [3]"}; error_msg ("hinfsyn", info, 9, err_msg); // return values retval(0) = ak; retval(1) = bk; retval(2) = ck; retval(3) = dk; retval(4) = rcond; } return retval; } control-3.2.0/src/PaxHeaders.3947/is_zp_vector.cc0000644000000000000000000000013213450727360016472 xustar0030 mtime=1554231024.673431839 30 atime=1554231024.673431839 30 ctime=1554231028.525576056 control-3.2.0/src/is_zp_vector.cc0000644000175000017500000000362113450727360016735 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Return true if all arguments zero-pole vectors and false otherwise. Author: Lukas Reichlin Created: October 2015 Version: 0.1 */ #include #include "config.h" // PKG_ADD: autoload ("is_zp_vector", "__control_helper_functions__.oct"); DEFUN_DLD (is_zp_vector, args, nargout, "-*- texinfo -*-\n\ @deftypefn {Loadable Function} {} is_zp_vector (@var{a}, @dots{})\n\ Return true if all arguments are zero-pole vectors and false otherwise.\n\ @var{[]} is a valid zero-pole vector.\n\ Avoid nasty stuff like @code{true = isreal (\"a\")}\n\ @seealso{is_real_matrix, is_real_square_matrix, is_real_vector, is_real_scalar}\n\ @end deftypefn") { octave_value retval = true; octave_idx_type nargin = args.length (); if (nargin == 0) { print_usage (); } else { for (octave_idx_type i = 0; i < nargin; i++) { if (args(i).ndims () != 2 || (args(i).rows () > 1 && args(i).columns () > 1) || ! args(i).OV_ISNUMERIC () || ! (args(i).OV_ISCOMPLEX () || args(i).OV_ISREAL())) { retval = false; break; } } } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sg03bd.cc0000644000000000000000000000013213450727360015544 xustar0030 mtime=1554231024.725433824 30 atime=1554231024.725433824 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sg03bd.cc0000644000175000017500000000763213450727360016015 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Square-root solver for generalized Lyapunov equations. Uses SLICOT SG03BD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: September 2010 Version: 0.3 */ #include #include "common.h" extern "C" { int F77_FUNC (sg03bd, SG03BD) (char& DICO, char& FACT, char& TRANS, F77_INT& N, F77_INT& M, double* A, F77_INT& LDA, double* E, F77_INT& LDE, double* Q, F77_INT& LDQ, double* Z, F77_INT& LDZ, double* B, F77_INT& LDB, double& SCALE, double* ALPHAR, double* ALPHAI, double* BETA, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sg03bd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sg03bd__, args, nargout, "-*- texinfo -*-\n\ Slicot SG03BD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 4) { print_usage (); } else { // arguments in char dico; char fact = 'N'; char trans = 'N'; Matrix a = args(0).matrix_value (); Matrix e = args(1).matrix_value (); Matrix b = args(2).matrix_value (); F77_INT discrete = args(3).int_value (); if (discrete == 0) dico = 'C'; else dico = 'D'; F77_INT n = TO_F77_INT (a.rows ()); F77_INT m = TO_F77_INT (b.rows ()); F77_INT lda = max (1, n); F77_INT lde = max (1, n); F77_INT ldq = max (1, n); F77_INT ldz = max (1, n); F77_INT ldb = max (1, m, n); F77_INT n1 = max (m, n); b.resize (ldb, n1); // arguments out double scale; Matrix q (ldq, n); Matrix z (ldz, n); ColumnVector alphar (n); ColumnVector alphai (n); ColumnVector beta (n); // workspace F77_INT ldwork = max (1, 4*n, 6*n-6); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // SLICOT routine SG03BD F77_XFCN (sg03bd, SG03BD, (dico, fact, trans, n, m, a.fortran_vec (), lda, e.fortran_vec (), lde, q.fortran_vec (), ldq, z.fortran_vec (), ldz, b.fortran_vec (), ldb, scale, alphar.fortran_vec (), alphai.fortran_vec (), beta.fortran_vec (), dwork, ldwork, info)); if (f77_exception_encountered) error ("lyap: __sl_sg03bd__: exception in SLICOT subroutine SG03BD"); if (info != 0) error ("lyap: __sl_sg03bd__: SG03BD returned info = %d", info); // resize b.resize (n, n); // return values retval(0) = b; // b has been overwritten by cholesky factor u retval(1) = octave_value (scale); } return retval; } control-3.2.0/src/PaxHeaders.3947/aclocal.m40000644000000000000000000000013213450727363015320 xustar0030 mtime=1554231027.353532729 30 atime=1554231027.809549657 30 ctime=1554231028.525576056 control-3.2.0/src/aclocal.m40000644000175000017500000000127113450727363015562 0ustar00olafolaf00000000000000# generated automatically by aclocal 1.15 -*- Autoconf -*- # Copyright (C) 1996-2014 Free Software Foundation, Inc. # This file is free software; the Free Software Foundation # gives unlimited permission to copy and/or distribute it, # with or without modifications, as long as this notice is preserved. # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY, to the extent permitted by law; without # even the implied warranty of MERCHANTABILITY or FITNESS FOR A # PARTICULAR PURPOSE. m4_ifndef([AC_CONFIG_MACRO_DIRS], [m4_defun([_AM_CONFIG_MACRO_DIRS], [])m4_defun([AC_CONFIG_MACRO_DIRS], [_AM_CONFIG_MACRO_DIRS($@)])]) m4_include([m4/octave-forge.m4]) control-3.2.0/src/PaxHeaders.3947/m40000644000000000000000000000013213450727360013720 xustar0030 mtime=1554231024.673431839 30 atime=1554231028.525576056 30 ctime=1554231028.525576056 control-3.2.0/src/m4/0000755000175000017500000000000013450727360014236 5ustar00olafolaf00000000000000control-3.2.0/src/m4/PaxHeaders.3947/octave-forge.m40000644000000000000000000000013213450727360016620 xustar0030 mtime=1554231024.673431839 30 atime=1554231027.041521147 30 ctime=1554231028.525576056 control-3.2.0/src/m4/octave-forge.m40000644000175000017500000000575313450727360017073 0ustar00olafolaf00000000000000# Copyright (C) 2017 Olaf Till # Modifications to print what is searching for by JohnD # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation; either version 3 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU # General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, see . # arguments of OF_OCTAVE_ALT_SYMS (see also description of # OF_OCTAVE_LIST_ALT_SYMS below): # # $1: symbol version 1 # $2: symbol version 2 # $3: test for symbol version 2 # $4: macro name to access alternative symbols # $5: include directives for symbol version 1 # $6: include directives for symbol version 2 # (a list of lists of args 1--6 is $1 of OF_OCTAVE_LIST_ALT_SYMS) # $7: name of generated include file with alternatives of Octave headers # (arg7 is $2 of OF_OCTAVE_LIST_ALT_SYMS) AC_DEFUN([OF_OCTAVE_ALT_SYMS], [ AC_MSG_CHECKING([$1 or $2]) AC_COMPILE_IFELSE( [AC_LANG_PROGRAM([[#include ] $6], [$3])], [AC_DEFINE($4, [[$2]], [macro for alternative Octave symbols]) AC_MSG_RESULT([$2]) echo '$6' >> $7], [AC_DEFINE($4, [[$1]], [macro for alternative Octave symbols]) AC_MSG_RESULT([$1]) echo '$5' >> $7] ) ]) # OF_OCTAVE_LIST_ALT_SYMS is called in the following way: # # OF_OCTAVE_LIST_ALT_SYMS([ # [dnl # [old_octave_symbol], # [new_octave_symbol], # [[compilation test] # [for new_octave_symbol]], # [NAME_OF_GENERATED_MACRO____WILL_EXPAND_TO_OLD_OR_NEW_SYMBOL], # [[include directives] # [except #include ] # [necessary to compile with old_octave_symbol]], # [[include directives] # [except #include ] # [nessary to compile with new_octave_symbol] # [and to compile the test]] # ], # # ... further such lists as the above # # ], # # [name-of-header-file-for-alternative-octave-iclude-directives.h]) # # # This file should be put into src/m4/, and the line # # AC_CONFIG_MACRO_DIRS([m4]) # # should be put into src/configure.ac. The package should use # autoheader to generate config.h.in (src/bootstrap should contain the # lines 'aclocal', 'autoconf', and 'autoheader -f'). Package code # should include config.h and use the generated macros to access the # alternative symbols of Octave. An example of a call to # OF_OCTAVE_LIST_ALT_SYMS in src/configure.ac is available together # with this file. AC_DEFUN([OF_OCTAVE_LIST_ALT_SYMS], [ echo '/* generated by configure */' > $2 m4_foreach([it], [$1], [m4_apply([OF_OCTAVE_ALT_SYMS], [it, $2])]) AH_BOTTOM([#include "$2"]) ]) control-3.2.0/src/PaxHeaders.3947/sl_sb03md.cc0000644000000000000000000000013213450727360015552 xustar0030 mtime=1554231024.701432908 30 atime=1554231024.701432908 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb03md.cc0000644000175000017500000000712113450727360016014 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Solution of Lyapunov equations. Uses SLICOT SB03MD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: December 2009 Version: 0.4 */ #include #include "common.h" extern "C" { int F77_FUNC (sb03md, SB03MD) (char& DICO, char& JOB, char& FACT, char& TRANA, F77_INT& N, double* A, F77_INT& LDA, double* U, F77_INT& LDU, double* C, F77_INT& LDC, double& SCALE, double& SEP, double& FERR, double* WR, double* WI, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb03md__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb03md__, args, nargout, "-*- texinfo -*-\n\ Slicot SB03MD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 3) { print_usage (); } else { // arguments in char dico; char job = 'X'; char fact = 'N'; char trana = 'T'; Matrix a = args(0).matrix_value (); Matrix c = args(1).matrix_value (); F77_INT discrete = args(2).int_value (); if (discrete == 0) dico = 'C'; else dico = 'D'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT lda = max (1, n); F77_INT ldu = max (1, n); F77_INT ldc = max (1, n); // arguments out double scale; double sep = 0; double ferr = 0; Matrix u (ldu, n); ColumnVector wr (n); ColumnVector wi (n); // workspace F77_INT* iwork = 0; // not referenced because job = X F77_INT ldwork = max (n*n, 3*n); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // SLICOT routine SB03MD F77_XFCN (sb03md, SB03MD, (dico, job, fact, trana, n, a.fortran_vec (), lda, u.fortran_vec (), ldu, c.fortran_vec (), ldc, scale, sep, ferr, wr.fortran_vec (), wi.fortran_vec (), iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("lyap: __sl_sb03md__: exception in SLICOT subroutine SB03MD"); if (info != 0) error ("lyap: __sl_sb03md__: SB03MD returned info = %d", info); // return values retval(0) = c; retval(1) = octave_value (scale); } return retval; } control-3.2.0/src/PaxHeaders.3947/configure0000644000000000000000000000013213450727363015364 xustar0030 mtime=1554231027.981556042 30 atime=1554231027.913553518 30 ctime=1554231028.525576056 control-3.2.0/src/configure0000755000175000017500000031507513450727363015643 0ustar00olafolaf00000000000000#! /bin/sh # Guess values for system-dependent variables and create Makefiles. # Generated by GNU Autoconf 2.69 for control 3.2.0. # # # Copyright (C) 1992-1996, 1998-2012 Free Software Foundation, Inc. # # # This configure script is free software; the Free Software Foundation # gives unlimited permission to copy, distribute and modify it. ## -------------------- ## ## M4sh Initialization. ## ## -------------------- ## # Be more Bourne compatible DUALCASE=1; export DUALCASE # for MKS sh if test -n "${ZSH_VERSION+set}" && (emulate sh) >/dev/null 2>&1; then : emulate sh NULLCMD=: # Pre-4.2 versions of Zsh do word splitting on ${1+"$@"}, which # is contrary to our usage. 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So we exec the FD to /dev/null, # effectively closing config.log, so it can be properly (re)opened and # appended to by config.status. When coming back to configure, we # need to make the FD available again. if test "$no_create" != yes; then ac_cs_success=: ac_config_status_args= test "$silent" = yes && ac_config_status_args="$ac_config_status_args --quiet" exec 5>/dev/null $SHELL $CONFIG_STATUS $ac_config_status_args || ac_cs_success=false exec 5>>config.log # Use ||, not &&, to avoid exiting from the if with $? = 1, which # would make configure fail if this is the last instruction. $ac_cs_success || as_fn_exit 1 fi if test -n "$ac_unrecognized_opts" && test "$enable_option_checking" != no; then { $as_echo "$as_me:${as_lineno-$LINENO}: WARNING: unrecognized options: $ac_unrecognized_opts" >&5 $as_echo "$as_me: WARNING: unrecognized options: $ac_unrecognized_opts" >&2;} fi control-3.2.0/src/PaxHeaders.3947/readme0000644000000000000000000000013213450727360014635 xustar0030 mtime=1554231024.673431839 30 atime=1554231024.673431839 30 ctime=1554231028.525576056 control-3.2.0/src/readme0000644000175000017500000000624413450727360015104 0ustar00olafolaf00000000000000SLICOT Library Root Directory ----------------------------- SLICOT - Subroutine Library In COntrol Theory - is a general purpose basic mathematical library for control theoretical computations. The library provides tools to perform essential system analysis and synthesis tasks. The main emphasis in SLICOT is on numerical reliability of implemented algorithms and the numerical robustness and efficiency of routines. Providing algorithmic flexibility and the use of rigorous implementation and documentation standards are other SLICOT features. The SLICOT Library is available as standard Fortran 77 code in double precision. Each user-callable subroutine for control computations is accompanied by an example program which illustrates the use of the subroutine and can act as a template for the user's own routines. The SLICOT Library is organized by chapters, sections and subsections. The following chapters are currently included: A : Analysis Routines B : Benchmark and Test Problems D : Data Analysis F : Filtering I : Identification M : Mathematical Routines N : Nonlinear Systems (not yet available, except for some auxiliary routines for Wiener systems) S : Synthesis Routines T : Transformation Routines U : Utility Routines SLICOT Library Root Directory contains few, basic files for the SLICOT Library distribution and generation. When distributed, SLICOT software comes with several filled-in subdirectories (benchmark_data, doc, examples, examples77, src, and src_aux), and five files in this root directory: - this file, readme, - the file Installation.txt, describing the SLICOT software installation, - the main SLICOT Library documentation index, libindex.html, and - two template files for building the object library and executable programs, make.inc and makefile, - GNU GENERAL PUBLIC LICENSE Version 2 text file. The last two files might need few changes for being adapted to the specific platform used. Details about installing/updating the SLICOT software are given in the file Installation.txt. After software installation, this directory will also contain the library file slicot.a or slicot.lib, for Unix or Windows platforms, respectively. The library file could then be linked in applications programs, as usual. Specific examples are contained in the directories examples and examples77. The on-line documentation of the SLICOT user's callable routines is accessible via the main SLICOT Library documentation index, libindex.html. This file also contains a link to the documentation of the lower-level, support routines. The SLICOT Library is built on LAPACK (Linear Algebra PACKage) and BLAS (Basic Linear Algebra Subprograms) collections. Therefore, these packages should be available on the platform used. Basic References: 1. P. Benner, V. Mehrmann, V. Sima, S. Van Huffel, and A. Varga, "SLICOT - A Subroutine Library in Systems and Control Theory", Applied and Computational Control, Signals, and Circuits (Birkhauser), Vol. 1, Ch. 10, pp. 505-546, 1999. 2. S. Van Huffel, V. Sima, A. Varga, S. Hammarling, and F. Delebecque, "Development of High Performance Numerical Software for Control", IEEE Control Systems Magazine, Vol. 24, Nr. 1, Feb., pp. 60-76, 2004. control-3.2.0/src/PaxHeaders.3947/sl_sb04md.cc0000644000000000000000000000013213450727360015553 xustar0030 mtime=1554231024.701432908 30 atime=1554231024.701432908 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb04md.cc0000644000175000017500000000601113450727360016012 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Solution of continuous-time Sylvester equations. Uses SLICOT SB04MD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: January 2010 Version: 0.3 */ #include #include "common.h" extern "C" { int F77_FUNC (sb04md, SB04MD) (F77_INT& N, F77_INT& M, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* Z, F77_INT& LDZ, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb04md__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb04md__, args, nargout, "-*- texinfo -*-\n\ Slicot SB04MD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 3) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); F77_INT n = TO_F77_INT (a.rows ()); F77_INT m = TO_F77_INT (b.rows ()); F77_INT lda = max (1, n); F77_INT ldb = max (1, m); F77_INT ldc = max (1, n); F77_INT ldz = max (1, m); // arguments out Matrix z (ldz, m); // workspace F77_INT ldwork = max (1, 2*n*n + 8*n, 5*m, n + m); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, 4*n); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // SLICOT routine SB04MD F77_XFCN (sb04md, SB04MD, (n, m, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, z.fortran_vec (), ldz, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("lyap: __sl_sb04md__: exception in SLICOT subroutine SB04MD"); if (info != 0) error ("lyap: __sl_sb04md__: SB04MD returned info = %d", info); // return values retval(0) = c; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_ab04md.cc0000644000000000000000000000013213450727360015531 xustar0030 mtime=1554231024.677431991 30 atime=1554231024.677431991 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ab04md.cc0000644000175000017500000000712113450727360015773 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Discrete-time <--> continuous-time systems conversion by a bilinear transformation. Uses SLICOT AB04MD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: September 2011 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (ab04md, AB04MD) (char& TYPE, F77_INT& N, F77_INT& M, F77_INT& P, double& ALPHA, double& BETA, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ab04md__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ab04md__, args, nargout, "-*- texinfo -*-\n\ Slicot AB04MD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 7) { print_usage (); } else { // arguments in char type; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); double alpha = args(4).double_value (); double beta = args(5).double_value (); F77_INT discrete = args(6).int_value (); if (discrete == 0) type = 'C'; else type = 'D'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); F77_INT ldd = max (1, p); // workspace F77_INT ldwork = max (1, n); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, n); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // SLICOT routine AB04MD F77_XFCN (ab04md, AB04MD, (type, n, m, p, alpha, beta, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("__sl_ab04md__: exception in SLICOT subroutine AB04MD"); if (info != 0) error ("__sl_ab04md__: AB04MD returned info = %d", info); // return values retval(0) = a; retval(1) = b; retval(2) = c; retval(3) = d; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_tb04bd.cc0000644000000000000000000000013213450727360015541 xustar0030 mtime=1554231024.729433977 30 atime=1554231024.729433977 30 ctime=1554231028.525576056 control-3.2.0/src/sl_tb04bd.cc0000644000175000017500000001071613450727360016007 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Transfer matrix of a given state-space representation (A,B,C,D), using the pole-zeros method. Uses SLICOT TB04BD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: October 2010 Version: 0.3 */ #include #include "common.h" extern "C" { int F77_FUNC (tb04bd, TB04BD) (char& JOBD, char& ORDER, char& EQUIL, F77_INT& N, F77_INT& M, F77_INT& P, F77_INT& MD, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, F77_INT* IGN, F77_INT& LDIGN, F77_INT* IGD, F77_INT& LDIGD, double* GN, double* GD, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_tb04bd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_tb04bd__, args, nargout, "-*- texinfo -*-\n\ Slicot TB04BD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 5) { print_usage (); } else { // arguments in char jobd = 'D'; char order = 'D'; char equil; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); const F77_INT scaled = args(4).int_value (); if (scaled == 0) equil = 'S'; else equil = 'N'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT md = n + 1; F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); F77_INT ldd = max (1, p); // arguments out F77_INT ldign = max (1, p); F77_INT ldigd = max (1, p); F77_INT lg = p * m * md; OCTAVE_LOCAL_BUFFER (F77_INT, ign, ldign*m); OCTAVE_LOCAL_BUFFER (F77_INT, igd, ldigd*m); RowVector gn (lg); RowVector gd (lg); // tolerance double tol = 0; // use default value // workspace F77_INT ldwork = max (1, n*(n + p) + max (n + max (n, p), n*(2*n + 5))); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, n); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // SLICOT routine TB04BD F77_XFCN (tb04bd, TB04BD, (jobd, order, equil, n, m, p, md, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, ign, ldign, igd, ldigd, gn.fortran_vec (), gd.fortran_vec (), tol, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("ss2tf: __sl_tb04bd__: exception in SLICOT subroutine TB04BD"); if (info != 0) error ("ss2tf: __sl_tb04bd__: TB04BD returned info = %d", info); // return values Cell num(p, m); Cell den(p, m); F77_INT ik, istr; for (ik = 0; ik < p*m; ik++) { istr = ik*md; num.xelem (ik) = gn.extract_n (istr, ign[ik]+1); den.xelem (ik) = gd.extract_n (istr, igd[ik]+1); } retval(0) = num; retval(1) = den; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb10zd.cc0000644000000000000000000000013213450727360015565 xustar0030 mtime=1554231024.717433519 30 atime=1554231024.717433519 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb10zd.cc0000644000175000017500000001234113450727360016027 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Positive feedback controller for a discrete-time system (D != 0). Uses SLICOT SB10ZD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: August 2011 Version: 0.4 */ #include #include "common.h" extern "C" { int F77_FUNC (sb10zd, SB10ZD) (F77_INT& N, F77_INT& M, F77_INT& NP, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double& FACTOR, double* AK, F77_INT& LDAK, double* BK, F77_INT& LDBK, double* CK, F77_INT& LDCK, double* DK, F77_INT& LDDK, double* RCOND, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb10zd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb10zd__, args, nargout, "-*- texinfo -*-\n\ Slicot SB10ZD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 6) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); double factor = args(4).double_value (); double tol = args(5).double_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT np = TO_F77_INT (c.rows ()); // np: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, np); F77_INT ldd = max (1, np); F77_INT ldak = max (1, n); F77_INT ldbk = max (1, n); F77_INT ldck = max (1, m); F77_INT lddk = max (1, m); // arguments out Matrix ak (ldak, n); Matrix bk (ldbk, np); Matrix ck (ldck, n); Matrix dk (lddk, np); ColumnVector rcond (6); // workspace F77_INT liwork = 2 * max (n, m+np); F77_INT ldwork = 16*n*n + 5*m*m + 7*np*np + 6*m*n + 7*m*np + 7*n*np + 6*n + 2*(m + np) + max (14*n+23, 16*n, 2*m-1, 2*np-1); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, 2*n); // error indicator F77_INT info; // SLICOT routine SB10ZD F77_XFCN (sb10zd, SB10ZD, (n, m, np, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, factor, ak.fortran_vec (), ldak, bk.fortran_vec (), ldbk, ck.fortran_vec (), ldck, dk.fortran_vec (), lddk, rcond.fortran_vec (), tol, iwork, dwork, ldwork, bwork, info)); if (f77_exception_encountered) error ("ncfsyn: __sl_sb10zd__: exception in SLICOT subroutine SB10ZD"); static const char* err_msg[] = { "0: OK", "1: the P-Riccati equation is not solved successfully", "2: the Q-Riccati equation is not solved successfully", "3: the iteration to compute eigenvalues or singular " "values failed to converge", "4: the matrix (gamma^2-1)*In - P*Q is singular", "5: the matrix Rx + Bx'*X*Bx is singular", "6: the matrix Ip + D*Dk is singular", "7: the matrix Im + Dk*D is singular", "8: the matrix Ip - D*Dk is singular", "9: the matrix Im - Dk*D is singular", "10: the closed-loop system is unstable"}; error_msg ("ncfsyn", info, 10, err_msg); // resizing ak.resize (n, n); bk.resize (n, np); ck.resize (m, n); dk.resize (m, np); // return values retval(0) = ak; retval(1) = bk; retval(2) = ck; retval(3) = dk; retval(4) = rcond; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_tg01fd.cc0000644000000000000000000000013013450727360015545 xustar0029 mtime=1554231024.73343413 29 atime=1554231024.73343413 30 ctime=1554231028.525576056 control-3.2.0/src/sl_tg01fd.cc0000644000175000017500000001070113450727360016007 0ustar00olafolaf00000000000000/* Copyright (C) 2013-2015 Thomas Vasileiou This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Orthogonal reduction of a descriptor system to a SVD-like coordinate form. Uses SLICOT TG01FD by courtesy of NICONET e.V. Author: Thomas Vasileiou Created: September 2013 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (tg01fd, TG01FD) (char& COMPQ, char& COMPZ, char& JOBA, F77_INT& L, F77_INT& N, F77_INT& M, F77_INT& P, double* A, F77_INT& LDA, double* E, F77_INT& LDE, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* Q, F77_INT& LDQ, double* Z, F77_INT& LDZ, F77_INT& RANKE, F77_INT& RNKA22, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_tg01fd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_tg01fd__, args, nargout, "-*- texinfo -*-\n\ Slicot TG01FD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 6) { print_usage (); } else { // arguments in char compq; char compz; char joba = 'T'; Matrix a = args(0).matrix_value (); Matrix e = args(1).matrix_value (); Matrix b = args(2).matrix_value (); Matrix c = args(3).matrix_value (); const F77_INT qz_flag = args(4).int_value (); double tol = args(5).double_value (); if (qz_flag == 0) { compq = 'N'; compz = 'N'; } else { compq = 'I'; compz = 'I'; } F77_INT l = TO_F77_INT (a.rows ()); F77_INT n = l; F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, l); F77_INT lde = max (1, l); F77_INT ldb = max (1, l); F77_INT ldc = max (1, p); F77_INT ldq = max (1, l); F77_INT ldz = max (1, n); // arguments out Matrix q(l, l, 0.); Matrix z(n, n, 0.); Matrix empty(0, 0); F77_INT ranke, rnka22; // workspace F77_INT ldwork = max (1, n+p, min (l,n) + max (3*n-1, m, l)); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, n); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT info = 0; // SLICOT routine TG01FD F77_XFCN (tg01fd, TG01FD, (compq, compz, joba, l, n, m, p, a.fortran_vec (), lda, e.fortran_vec (), lde, b.fortran_vec (), ldb, c.fortran_vec (), ldc, q.fortran_vec (), ldq, z.fortran_vec (), ldz, ranke, rnka22, tol, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("__sl_tg01fd__: exception in SLICOT subroutine TG01FD"); if (info != 0) error ("__sl_tg01fd__: TG01FD returned info = %d", info); // return values retval(0) = a; retval(1) = e; retval(2) = b; retval(3) = c; retval(4) = octave_value (ranke); retval(5) = octave_value (rnka22); if (qz_flag == 0) { retval(6) = empty; retval(7) = empty; } else { retval(6) = q; retval(7) = z; } } return retval; } control-3.2.0/src/PaxHeaders.3947/__control_helper_functions__.cc0000644000000000000000000000013213450727360021667 xustar0030 mtime=1554231024.629430158 30 atime=1554231024.629430158 30 ctime=1554231028.525576056 control-3.2.0/src/__control_helper_functions__.cc0000644000175000017500000000104413450727360022127 0ustar00olafolaf00000000000000#include "is_real_scalar.cc" #include "is_real_vector.cc" #include "is_real_matrix.cc" #include "is_real_square_matrix.cc" #include "is_matrix.cc" #include "is_zp_vector.cc" #include "lti_input_idx.cc" // stub function to avoid gen_doc_cache warning upon package installation DEFUN_DLD (__control_helper_functions__, args, nargout, "-*- texinfo -*-\n\ Helper functions for the control package.\n\ For internal use only.") { octave_value_list retval; error ("__control_helper_functions__: for internal use only"); return retval; } control-3.2.0/src/PaxHeaders.3947/__control_slicot_functions__.cc0000644000000000000000000000013213450727360021705 xustar0030 mtime=1554231024.629430158 30 atime=1554231024.629430158 30 ctime=1554231028.525576056 control-3.2.0/src/__control_slicot_functions__.cc0000644000175000017500000000735513450727360022160 0ustar00olafolaf00000000000000#include "sl_ab08nd.cc" // invariant zeros of state-space models #include "sl_ab13dd.cc" // L-infinity norm #include "sl_sb10hd.cc" // H-2 controller synthesis - continuous-time #include "sl_sb10ed.cc" // H-2 controller synthesis - discrete-time #include "sl_ab13bd.cc" // H-2 norm #include "sl_sb01bd.cc" // pole assignment #include "sl_sb10fd.cc" // H-infinity controller synthesis - continuous-time #include "sl_sb10dd.cc" // H-infinity controller synthesis - discrete-time #include "sl_sb03md.cc" // Lyapunov equations #include "sl_sb04md.cc" // Sylvester equations - continuous-time #include "sl_sb04qd.cc" // Sylvester equations - discrete-time #include "sl_sg03ad.cc" // generalized Lyapunov equations #include "sl_sb02od.cc" // algebraic Riccati equations #include "sl_ab13ad.cc" // Hankel singular values #include "sl_ab01od.cc" // staircase form using orthogonal transformations #include "sl_tb01pd.cc" // minimal realization of state-space models #include "sl_sb03od.cc" // Cholesky factor of Lyapunov equations #include "sl_sg03bd.cc" // Cholesky factor of generalized Lyapunov equations #include "sl_ag08bd.cc" // finite Smith zeros of descriptor state-space models #include "sl_tg01jd.cc" // minimal realization of descriptor state-space models #include "sl_tg01hd.cc" // controllability staircase form of descriptor state-space models #include "sl_tg01id.cc" // observability staircase form of descriptor state-space models #include "sl_sg02ad.cc" // solution of algebraic Riccati equations for descriptor systems #include "sl_tg04bx.cc" // gain of descriptor state-space models #include "sl_tb01id.cc" // scaling of state-space models #include "sl_tg01ad.cc" // scaling of descriptor state-space models #include "sl_sb10id.cc" // H-infinity loop shaping - continuous-time #include "sl_sb10kd.cc" // H-infinity loop shaping - discrete-time - strictly proper case #include "sl_sb10zd.cc" // H-infinity loop shaping - discrete-time - proper case #include "sl_tb04bd.cc" // state-space to transfer function conversion #include "sl_ab04md.cc" // bilinear transformation #include "sl_sb10jd.cc" // descriptor to regular state-space conversion #include "sl_td04ad.cc" // transfer function to state-space conversion #include "sl_tb01ud.cc" // controllable block Hessenberg realization #include "sl_ab09hd.cc" // balanced stochastic truncation model reduction #include "sl_ab09id.cc" // balanced truncation & singular perturbation approximation model reduction #include "sl_ab09jd.cc" // Hankel-norm approximation model reduction #include "sl_sb16ad.cc" // balanced truncation & singular perturbation approximation controller reduction #include "sl_sb16bd.cc" // coprime factorization state-feedback controller reduction #include "sl_sb16cd.cc" // frequency-weighted coprime factorization state-feedback controller reduction #include "sl_sb10yd.cc" // fit state-space model to frequency response data #include "sl_ident.cc" // system identification #include "sl_ib01cd.cc" // compute initial state vector #include "sl_ib01ad.cc" // compute singular values // #include "sl_are.cc" // solve ARE with Schur vector approach and scaling #include "sl_tg01fd.cc" // orthogonal reduction of dss to a SVD-like coordinate form #include "sl_sb10ad.cc" // H-infinity optimal controller using modified Glover's and Doyle's formulas (continuous-time) #include "sl_mb05nd.cc" // matrix exponential and integral for a real matrix // stub function to avoid gen_doc_cache warning upon package installation DEFUN_DLD (__control_slicot_functions__, args, nargout, "-*- texinfo -*-\n\ Slicot Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_value_list retval; error ("__control_slicot_functions__: for internal use only"); return retval; } control-3.2.0/src/PaxHeaders.3947/is_real_square_matrix.cc0000644000000000000000000000013213450727360020346 xustar0030 mtime=1554231024.669431686 30 atime=1554231024.669431686 30 ctime=1554231028.525576056 control-3.2.0/src/is_real_square_matrix.cc0000644000175000017500000000355013450727360020612 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Return true if all arguments are real-valued, square matrices and false otherwise. Author: Lukas Reichlin Created: September 2010 Version: 0.2 */ #include #include "config.h" // PKG_ADD: autoload ("is_real_square_matrix", "__control_helper_functions__.oct"); DEFUN_DLD (is_real_square_matrix, args, nargout, "-*- texinfo -*-\n\ @deftypefn {Loadable Function} {} is_real_square_matrix (@var{a}, @dots{})\n\ Return true if all arguments are real-valued, square matrices and false otherwise.\n\ @var{[]} is a valid square matrix.\n\ Avoid nasty stuff like @code{true = isreal (\"a\")}\n\ @seealso{is_real_matrix, is_real_vector, is_real_scalar}\n\ @end deftypefn") { octave_value retval = true; octave_idx_type nargin = args.length (); if (nargin == 0) { print_usage (); } else { for (octave_idx_type i = 0; i < nargin; i++) { if (args(i).ndims () != 2 || args(i).rows () != args(i).columns () || ! args(i).OV_ISNUMERIC () || ! args(i).OV_ISREAL ()) { retval = false; break; } } } return retval; } control-3.2.0/src/PaxHeaders.3947/config.h.in0000644000000000000000000000013213450727364015504 xustar0030 mtime=1554231028.521575909 30 atime=1554231028.521575909 30 ctime=1554231028.525576056 control-3.2.0/src/config.h.in0000644000175000017500000000162113450727364015745 0ustar00olafolaf00000000000000/* config.h.in. Generated from configure.ac by autoheader. */ #include "undef-ah-octave.h" /* macro for alternative Octave symbols */ #undef OV_ISCELL /* macro for alternative Octave symbols */ #undef OV_ISCOMPLEX /* macro for alternative Octave symbols */ #undef OV_ISNUMERIC /* macro for alternative Octave symbols */ #undef OV_ISOBJECT /* macro for alternative Octave symbols */ #undef OV_ISREAL /* Define to the address where bug reports for this package should be sent. */ #undef PACKAGE_BUGREPORT /* Define to the full name of this package. */ #undef PACKAGE_NAME /* Define to the full name and version of this package. */ #undef PACKAGE_STRING /* Define to the one symbol short name of this package. */ #undef PACKAGE_TARNAME /* Define to the home page for this package. */ #undef PACKAGE_URL /* Define to the version of this package. */ #undef PACKAGE_VERSION #include "oct-alt-includes.h" control-3.2.0/src/PaxHeaders.3947/sl_sg02ad.cc0000644000000000000000000000013213450727360015542 xustar0030 mtime=1554231024.725433824 30 atime=1554231024.725433824 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sg02ad.cc0000644000175000017500000001633013450727360016006 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Solution of algebraic Riccati equations for descriptor systems. Uses SLICOT SG02AD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: October 2010 Version: 0.4 */ #include #include "common.h" #include extern "C" { int F77_FUNC (sg02ad, SG02AD) (char& DICO, char& JOBB, char& FACT, char& UPLO, char& JOBL, char& SCAL, char& SORT, char& ACC, F77_INT& N, F77_INT& M, F77_INT& P, double* A, F77_INT& LDA, double* E, F77_INT& LDE, double* B, F77_INT& LDB, double* Q, F77_INT& LDQ, double* R, F77_INT& LDR, double* L, F77_INT& LDL, double& RCONDU, double* X, F77_INT& LDX, double* ALFAR, double* ALFAI, double* BETA, double* S, F77_INT& LDS, double* T, F77_INT& LDT, double* U, F77_INT& LDU, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sg02ad__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sg02ad__, args, nargout, "-*- texinfo -*-\n\ Slicot SG02AD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 8) { print_usage (); } else { // arguments in char dico; char jobb = 'B'; char fact = 'N'; char uplo = 'U'; char jobl; char scal = 'N'; char sort = 'S'; char acc = 'N'; Matrix a = args(0).matrix_value (); Matrix e = args(1).matrix_value (); Matrix b = args(2).matrix_value (); Matrix q = args(3).matrix_value (); Matrix r = args(4).matrix_value (); Matrix l = args(5).matrix_value (); F77_INT discrete = args(6).int_value (); F77_INT ijobl = args(7).int_value (); if (discrete == 0) dico = 'C'; else dico = 'D'; if (ijobl == 0) jobl = 'Z'; else jobl = 'N'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = 0; // p: number of outputs, not used because FACT = 'N' F77_INT lda = max (1, n); F77_INT lde = max (1, n); F77_INT ldb = max (1, n); F77_INT ldq = max (1, n); F77_INT ldr = max (1, m); F77_INT ldl = max (1, n); // arguments out double rcondu; F77_INT ldx = max (1, n); Matrix x (ldx, n); F77_INT nu = 2*n; ColumnVector alfar (nu); ColumnVector alfai (nu); ColumnVector beta (nu); // unused output arguments F77_INT lds = max (1, 2*n + m); OCTAVE_LOCAL_BUFFER (double, s, lds * lds); F77_INT ldt = max (1, 2*n + m); OCTAVE_LOCAL_BUFFER (double, t, ldt * 2*n); F77_INT ldu = max (1, 2*n); OCTAVE_LOCAL_BUFFER (double, u, ldu * 2*n); // tolerance double tol = 0; // use default value // workspace F77_INT liwork = max (1, m, 2*n); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); F77_INT ldwork = max (7*(2*n + 1) + 16, 16*n, 2*n + m, 3*m); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, 2*n); // error indicator F77_INT iwarn; F77_INT info; // SLICOT routine SG02AD F77_XFCN (sg02ad, SG02AD, (dico, jobb, fact, uplo, jobl, scal, sort, acc, n, m, p, a.fortran_vec (), lda, e.fortran_vec (), lde, b.fortran_vec (), ldb, q.fortran_vec (), ldq, r.fortran_vec (), ldr, l.fortran_vec (), ldl, rcondu, x.fortran_vec (), ldx, alfar.fortran_vec (), alfai.fortran_vec (), beta.fortran_vec (), s, lds, t, ldt, u, ldu, tol, iwork, dwork, ldwork, bwork, iwarn, info)); if (f77_exception_encountered) error ("are: __sl_sg02ad__: exception in SLICOT subroutine SG02AD"); static const char* err_msg[] = { "0: OK", "1: the computed extended matrix pencil is singular, " "possibly due to rounding errors", "2: the QZ algorithm failed", "3: reordering of the generalized eigenvalues failed", "4: after reordering, roundoff changed values of " "some complex eigenvalues so that leading eigenvalues " "in the generalized Schur form no longer satisfy the " "stability condition; this could also be caused due " "to scaling", "5: the computed dimension of the solution does not " "equal N", "6: the spectrum is too close to the boundary of " "the stability domain", "7: a singular matrix was encountered during the " "computation of the solution matrix X"}; static const char* warn_msg[] = { "0: OK", "1: solution may be inaccurate due to poor scaling " "or eigenvalues too close to the boundary of the stability domain " "(the imaginary axis, if DICO = 'C', or the unit circle, if DICO = 'D')"}; error_msg ("are", info, 7, err_msg); warning_msg ("are", iwarn, 1, warn_msg); // assemble complex vector - adapted from DEFUN complex in data.cc alfar.resize (n); alfai.resize (n); beta.resize (n); ColumnVector poler (n); ColumnVector polei (n); poler = quotient (alfar, beta); polei = quotient (alfai, beta); ComplexColumnVector pole (n, Complex ()); for (F77_INT i = 0; i < n; i++) pole.xelem (i) = Complex (poler(i), polei(i)); // return value retval(0) = x; retval(1) = pole; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_ab08nd.cc0000644000000000000000000000013213450727360015536 xustar0030 mtime=1554231024.677431991 30 atime=1554231024.677431991 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ab08nd.cc0000644000175000017500000001666413450727360016014 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Invariant zeros of state-space models. Uses SLICOT AB08ND by courtesy of NICONET e.V. Author: Lukas Reichlin Created: November 2009 Version: 0.8 */ #include #include "common.h" #include #include extern "C" { int F77_FUNC (ab08nd, AB08ND) (char& EQUIL, F77_INT& N, F77_INT& M, F77_INT& P, const double* A, F77_INT& LDA, const double* B, F77_INT& LDB, const double* C, F77_INT& LDC, const double* D, F77_INT& LDD, F77_INT& NU, F77_INT& RANK, F77_INT& DINFZ, F77_INT& NKROR, F77_INT& NKROL, F77_INT* INFZ, F77_INT* KRONR, F77_INT* KRONL, double* AF, F77_INT& LDAF, double* BF, F77_INT& LDBF, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); int F77_FUNC (dggev, DGGEV) (char& JOBVL, char& JOBVR, F77_INT& N, double* AF, F77_INT& LDAF, double* BF, F77_INT& LDBF, double* ALPHAR, double* ALPHAI, double* BETA, double* VL, F77_INT& LDVL, double* VR, F77_INT& LDVR, double* WORK, F77_INT& LWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ab08nd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ab08nd__, args, nargout, "-*- texinfo -*-\n\ Slicot AB08ND Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 5) { print_usage (); } else { // arguments in char equil; const Matrix a = args(0).matrix_value (); const Matrix b = args(1).matrix_value (); const Matrix c = args(2).matrix_value (); const Matrix d = args(3).matrix_value (); const F77_INT scaled = args(4).int_value (); if (scaled == 0) equil = 'S'; else equil = 'N'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, TO_F77_INT (a.rows ())); F77_INT ldb = max (1, TO_F77_INT (b.rows ())); F77_INT ldc = max (1, TO_F77_INT (c.rows ())); F77_INT ldd = max (1, TO_F77_INT (d.rows ())); // arguments out F77_INT nu; F77_INT rank; F77_INT dinfz; F77_INT nkror; F77_INT nkrol; F77_INT ldaf = max (1, n + m); F77_INT ldbf = max (1, n + p); OCTAVE_LOCAL_BUFFER (F77_INT, infz, n); OCTAVE_LOCAL_BUFFER (F77_INT, kronr, 1 + max (n, m)); OCTAVE_LOCAL_BUFFER (F77_INT, kronl, 1 + max (n, p)); OCTAVE_LOCAL_BUFFER (double, af, ldaf * (n + min (p, m))); OCTAVE_LOCAL_BUFFER (double, bf, ldbf * (n + m)); // workspace F77_INT s = max (m, p); F77_INT ldwork = max (1, max (s, n) + max (3*s-1, n+s)); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, s); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // tolerance double tol = 0; // AB08ND uses DLAMCH for default tolerance // SLICOT routine AB08ND F77_XFCN (ab08nd, AB08ND, (equil, n, m, p, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, nu, rank, dinfz, nkror, nkrol, infz, kronr, kronl, af, ldaf, bf, ldbf, tol, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("ss: zero: __sl_ab08nd__: exception in SLICOT subroutine AB08ND"); if (info != 0) error ("ss: zero: __sl_ab08nd__: AB08ND returned info = %d", info); // DGGEV Part char jobvl = 'N'; char jobvr = 'N'; double* vl = 0; // not referenced because jobvl = 'N' F77_INT ldvl = 1; double* vr = 0; // not referenced because jobvr = 'N' F77_INT ldvr = 1; F77_INT lwork = max (1, 8*nu); OCTAVE_LOCAL_BUFFER (double, work, lwork); ColumnVector alphar (nu); ColumnVector alphai (nu); ColumnVector beta (nu); F77_INT info2; F77_XFCN (dggev, DGGEV, (jobvl, jobvr, nu, af, ldaf, bf, ldbf, alphar.fortran_vec (), alphai.fortran_vec (), beta.fortran_vec (), vl, ldvl, vr, ldvr, work, lwork, info2)); if (f77_exception_encountered) error ("ss: zero: __sl_ab08nd__: exception in LAPACK subroutine DGGEV"); if (info2 != 0) error ("ss: zero: __sl_ab08nd__: DGGEV returned info = %d", info2); // calculate gain octave_value gain = Matrix (0, 0);; if (m == 1 && p == 1) { if (nu < n) gain = c * xpow (a, double (n-1-nu)).matrix_value() * b; else gain = d; } // assemble complex vector - adapted from DEFUN complex in data.cc ColumnVector zeror (nu); ColumnVector zeroi (nu); zeror = quotient (alphar, beta); zeroi = quotient (alphai, beta); ComplexColumnVector zero (nu, Complex ()); for (F77_INT i = 0; i < nu; i++) zero.xelem (i) = Complex (zeror(i), zeroi(i)); // prepare additional outputs for info struct RowVector infzr (dinfz); RowVector kronrr (nkror); RowVector kronlr (nkrol); for (F77_INT i = 0; i < dinfz; i++) infzr.xelem (i) = infz[i]; for (F77_INT i = 0; i < nkror; i++) kronrr.xelem (i) = kronr[i]; for (F77_INT i = 0; i < nkrol; i++) kronlr.xelem (i) = kronl[i]; // return values retval(0) = zero; retval(1) = gain; retval(2) = octave_value (rank); retval(3) = infzr; retval(4) = kronrr; retval(5) = kronlr; } return retval; } control-3.2.0/src/PaxHeaders.3947/Makefile0000644000000000000000000000013213450727360015115 xustar0030 mtime=1554231024.597428938 30 atime=1554231024.597428938 30 ctime=1554231028.525576056 control-3.2.0/src/Makefile0000644000175000017500000000326513450727360015364 0ustar00olafolaf00000000000000MKOCTFILE ?= mkoctfile ifndef LAPACK_LIBS LAPACK_LIBS := $(shell $(MKOCTFILE) -p LAPACK_LIBS) endif ifndef BLAS_LIBS BLAS_LIBS := $(shell $(MKOCTFILE) -p BLAS_LIBS) endif ifndef FLIBS FLIBS := $(shell $(MKOCTFILE) -p FLIBS) endif LFLAGS := $(shell $(MKOCTFILE) -p LFLAGS) $(LAPACK_LIBS) $(BLAS_LIBS) $(FLIBS) AR := $(shell $(MKOCTFILE) -p AR) PKG_CXXFLAGS := -Wall -Wno-deprecated-declarations $(PKG_CXXFLAGS_APPEND) all: __control_slicot_functions__.oct \ __control_helper_functions__.oct # TODO: Private oct-files for control package. # unpack and compile SLICOT library # Note that TG04BX is a custom routine. # It has the extension .fortran such that # it is not deleted by rm *.f when using # the developer makefile makefile_control.m slicotlibrary.a: slicot.tar.gz tar -xzf slicot.tar.gz mkdir sltmp mv slicot/src/*.f ./sltmp mv slicot/src_aux/*.f ./sltmp cp TG04BX.fortran ./sltmp/TG04BX.f cp TB01ZD.fortran ./sltmp/TB01ZD.f cd sltmp; $(MKOCTFILE) -c *.f $(AR) -rc slicotlibrary.a ./sltmp/*.o rm -rf sltmp slicot # slicot functions __control_slicot_functions__.oct: __control_slicot_functions__.cc common.cc slicotlibrary.a LFLAGS="$(LFLAGS)" \ $(MKOCTFILE) $(PKG_CXXFLAGS) __control_slicot_functions__.cc common.cc slicotlibrary.a # helper functions __control_helper_functions__.oct: __control_helper_functions__.cc $(MKOCTFILE) $(PKG_CXXFLAGS) __control_helper_functions__.cc clean: $(RM) -r *.o core octave-core *.oct *~ *.f slicot sltmp realclean: clean $(RM) -r *.a ## This should also remove any configure cache which clean should not ## remove according to GNU guidelines. ## https://www.gnu.org/prep/standards/html_node/Standard-Targets.html distclean: clean realclean control-3.2.0/src/PaxHeaders.3947/is_real_matrix.cc0000644000000000000000000000013213450727360016766 xustar0030 mtime=1554231024.665431533 30 atime=1554231024.665431533 30 ctime=1554231028.525576056 control-3.2.0/src/is_real_matrix.cc0000644000175000017500000000343213450727360017231 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Return true if all arguments are real-valued matrices and false otherwise. Author: Lukas Reichlin Created: September 2010 Version: 0.2 */ #include #include "config.h" // PKG_ADD: autoload ("is_real_matrix", "__control_helper_functions__.oct"); DEFUN_DLD (is_real_matrix, args, nargout, "-*- texinfo -*-\n\ @deftypefn {Loadable Function} {} is_real_matrix (@var{a}, @dots{})\n\ Return true if all arguments are real-valued matrices and false otherwise.\n\ @var{[]} is a valid matrix.\n\ Avoid nasty stuff like @code{true = isreal (\"a\")}\n\ @seealso{is_real_square_matrix, is_real_vector, is_real_scalar}\n\ @end deftypefn") { octave_value retval = true; octave_idx_type nargin = args.length (); if (nargin == 0) { print_usage (); } else { for (octave_idx_type i = 0; i < nargin; i++) { if (args(i).ndims () != 2 || ! args(i).OV_ISNUMERIC () || ! args(i).OV_ISREAL ()) { retval = false; break; } } } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb02od.cc0000644000000000000000000000013213450727360015553 xustar0030 mtime=1554231024.697432756 30 atime=1554231024.697432756 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb02od.cc0000644000175000017500000001470013450727360016016 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Solve algebraic Riccati equation. Uses SLICOT SB02OD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: February 2010 Version: 0.5 */ #include #include "common.h" #include extern "C" { int F77_FUNC (sb02od, SB02OD) (char& DICO, char& JOBB, char& FACT, char& UPLO, char& JOBL, char& SORT, F77_INT& N, F77_INT& M, F77_INT& P, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* Q, F77_INT& LDQ, double* R, F77_INT& LDR, double* L, F77_INT& LDL, double& RCOND, double* X, F77_INT& LDX, double* ALFAR, double* ALFAI, double* BETA, double* S, F77_INT& LDS, double* T, F77_INT& LDT, double* U, F77_INT& LDU, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb02od__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb02od__, args, nargout, "-*- texinfo -*-\n\ Slicot SB02OD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 7) { print_usage (); } else { // arguments in char dico; char jobb = 'B'; char fact = 'N'; char uplo = 'U'; char jobl; char sort = 'S'; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix q = args(2).matrix_value (); Matrix r = args(3).matrix_value (); Matrix l = args(4).matrix_value (); F77_INT discrete = args(5).int_value (); F77_INT ijobl = args(6).int_value (); if (discrete == 0) dico = 'C'; else dico = 'D'; if (ijobl == 0) jobl = 'Z'; else jobl = 'N'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = 0; // p: number of outputs, not used because FACT = 'N' F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldq = max (1, n); F77_INT ldr = max (1, m); F77_INT ldl = max (1, n); // arguments out double rcond; F77_INT ldx = max (1, n); Matrix x (ldx, n); F77_INT nu = 2*n; ColumnVector alfar (nu); ColumnVector alfai (nu); ColumnVector beta (nu); F77_INT lds = max (1, 2*n + m); Matrix s (lds, lds); // unused output arguments F77_INT ldt = max (1, 2*n + m); OCTAVE_LOCAL_BUFFER (double, t, ldt * 2*n); F77_INT ldu = max (1, 2*n); OCTAVE_LOCAL_BUFFER (double, u, ldu * 2*n); // tolerance double tol = 0; // use default value // workspace F77_INT liwork = max (1, m, 2*n); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); F77_INT ldwork = max (7*(2*n + 1) + 16, 16*n, 2*n + m, 3*m); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, 2*n); // error indicator F77_INT info; // SLICOT routine SB02OD F77_XFCN (sb02od, SB02OD, (dico, jobb, fact, uplo, jobl, sort, n, m, p, a.fortran_vec (), lda, b.fortran_vec (), ldb, q.fortran_vec (), ldq, r.fortran_vec (), ldr, l.fortran_vec (), ldl, rcond, x.fortran_vec (), ldx, alfar.fortran_vec (), alfai.fortran_vec (), beta.fortran_vec (), s.fortran_vec (), lds, t, ldt, u, ldu, tol, iwork, dwork, ldwork, bwork, info)); if (f77_exception_encountered) error ("are: __sl_sb02od__: exception in SLICOT subroutine SB02OD"); static const char* err_msg[] = { "0: OK", "1: the computed extended matrix pencil is singular, " "possibly due to rounding errors", "2: the QZ (or QR) algorithm failed", "3: reordering of the (generalized) eigenvalues " "failed", "4: after reordering, roundoff changed values of " "some complex eigenvalues so that leading eigenvalues " "in the (generalized) Schur form no longer satisfy " "the stability condition; this could also be caused " "due to scaling", "5: the computed dimension of the solution does not " "equal N", "6: a singular matrix was encountered during the " "computation of the solution matrix X"}; error_msg ("are", info, 6, err_msg); // assemble complex vector - adapted from DEFUN complex in data.cc alfar.resize (n); alfai.resize (n); beta.resize (n); ColumnVector poler (n); ColumnVector polei (n); poler = quotient (alfar, beta); polei = quotient (alfai, beta); ComplexColumnVector pole (n, Complex ()); for (F77_INT i = 0; i < n; i++) pole.xelem (i) = Complex (poler(i), polei(i)); // return value retval(0) = x; retval(1) = pole; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_ab13dd.cc0000644000000000000000000000013113450727360015517 xustar0029 mtime=1554231024.68943245 30 atime=1554231024.685432297 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ab13dd.cc0000644000175000017500000001172513450727360015767 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . L-infinity norm of a SS model. Uses SLICOT AB13DD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: November 2009 Version: 0.5 */ #include #include #include "common.h" extern "C" { int F77_FUNC (ab13dd, AB13DD) (char& DICO, char& JOBE, char& EQUIL, char& JOBD, F77_INT& N, F77_INT& M, F77_INT& P, double* FPEAK, double* A, F77_INT& LDA, double* E, F77_INT& LDE, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* GPEAK, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, Complex* CWORK, F77_INT& LCWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ab13dd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ab13dd__, args, nargout, "-*- texinfo -*-\n\ Slicot AB13DD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 9) { print_usage (); } else { // arguments in char dico; char jobe; char equil; char jobd = 'D'; Matrix a = args(0).matrix_value (); Matrix e = args(1).matrix_value (); Matrix b = args(2).matrix_value (); Matrix c = args(3).matrix_value (); Matrix d = args(4).matrix_value (); F77_INT discrete = args(5).int_value (); F77_INT descriptor = args(6).int_value (); double tol = args(7).double_value (); const F77_INT scaled = args(8).int_value (); if (discrete == 0) dico = 'C'; else dico = 'D'; if (descriptor == 0) jobe = 'I'; else jobe = 'G'; if (scaled == 0) equil = 'S'; else equil = 'N'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT lde = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); F77_INT ldd = max (1, p); ColumnVector fpeak (2); ColumnVector gpeak (2); fpeak(0) = 0; fpeak(1) = 1; // workspace F77_INT ldwork = max (1, 15*n*n + p*p + m*m + (6*n+3)*(p+m) + 4*p*m + n*m + 22*n + 7*min(p,m)); F77_INT lcwork = max (1, (n+m)*(n+p) + 2*min(p,m) + max(p,m)); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, n); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (Complex, cwork, lcwork); // error indicator F77_INT info; // SLICOT routine AB13DD F77_XFCN (ab13dd, AB13DD, (dico, jobe, equil, jobd, n, m, p, fpeak.fortran_vec (), a.fortran_vec (), lda, e.fortran_vec (), lde, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, gpeak.fortran_vec (), tol, iwork, dwork, ldwork, cwork, lcwork, info)); if (f77_exception_encountered) error ("lti: norm: __sl_ab13dd__: exception in SLICOT subroutine AB13DD"); static const char* err_msg[] = { "0: OK", "1: the matrix E is (numerically) singular", "2: the (periodic) QR (or QZ) algorithm for computing " "eigenvalues did not converge", "3: the SVD algorithm for computing singular values did " "not converge", "4: the tolerance is too small and the algorithm did " "not converge"}; error_msg ("__sl_ab13dd__", info, 4, err_msg); // return values retval(0) = fpeak; retval(1) = gpeak; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_tb01pd.cc0000644000000000000000000000013213450727360015554 xustar0030 mtime=1554231024.729433977 30 atime=1554231024.729433977 30 ctime=1554231028.525576056 control-3.2.0/src/sl_tb01pd.cc0000644000175000017500000000745313450727360016026 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Minimal realization of state-space models. Uses SLICOT TB01PD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: September 2010 Version: 0.5 */ #include #include "common.h" extern "C" { int F77_FUNC (tb01pd, TB01PD) (char& JOB, char& EQUIL, F77_INT& N, F77_INT& M, F77_INT& P, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, F77_INT& NR, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_tb01pd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_tb01pd__, args, nargout, "-*- texinfo -*-\n\ Slicot TB01PD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 5) { print_usage (); } else { // arguments in char job = 'M'; char equil; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); double tol = args(3).double_value (); const F77_INT scaled = args(4).int_value (); if (scaled == 0) equil = 'S'; else equil = 'N'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc; if (n == 0) ldc = 1; else ldc = max (1, m, p); b.resize (ldb, max (m, p)); c.resize (ldc, n); // arguments out F77_INT nr = 0; // workspace F77_INT liwork = n + max (m, p); F77_INT ldwork = max (1, n + max (n, 3*m, 3*p)); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT info = 0; // SLICOT routine TB01PD F77_XFCN (tb01pd, TB01PD, (job, equil, n, m, p, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, nr, tol, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("ss: minreal: __sl_tb01pd__: exception in SLICOT subroutine TB01PD"); if (info != 0) error ("ss: minreal: __sl_tb01pd__: TB01PD returned info = %d", info); // resize a.resize (nr, nr); b.resize (nr, m); c.resize (p, nr); // return values retval(0) = a; retval(1) = b; retval(2) = c; retval(3) = octave_value (nr); } return retval; } control-3.2.0/src/PaxHeaders.3947/common.h0000644000000000000000000000013213450727360015116 xustar0030 mtime=1554231024.661431381 30 atime=1554231024.661431381 30 ctime=1554231028.525576056 control-3.2.0/src/common.h0000644000175000017500000000376613450727360015373 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Common code for oct-files. Author: Lukas Reichlin Created: February 2012 Version: 0.2 */ #ifndef COMMON_H #define COMMON_H #include #if defined (OCTAVE_HAVE_F77_INT_TYPE) # define TO_F77_INT(x) octave::to_f77_int (x) #else typedef octave_idx_type F77_INT; # define TO_F77_INT(x) (x) typedef octave_idx_type F77_LOGICAL; #endif F77_INT max (F77_INT a, F77_INT b); F77_INT max (F77_INT a, F77_INT b, F77_INT c); F77_INT max (F77_INT a, F77_INT b, F77_INT c, F77_INT d); F77_INT max (F77_INT a, F77_INT b, F77_INT c, F77_INT d, F77_INT e); F77_INT min (F77_INT a, F77_INT b); void error_msg (const char name[], octave_idx_type index, octave_idx_type max, const char* msg[]); void warning_msg (const char name[], octave_idx_type index, octave_idx_type max, const char* msg[]); void warning_msg (const char name[], octave_idx_type index, octave_idx_type max, const char* msg[], octave_idx_type offset); // FIXME: Keep until Octave 4.2 and older are no longer supported. // This conditional defines f77_exception_encountered as a dummy constant // to preserve code that needed to check its value to work correctly in older // versions of Octave. #if defined (OCTAVE_MAJOR_VERSION) && OCTAVE_MAJOR_VERSION >= 6 static const int f77_exception_encountered = 0; #endif #include "config.h" #endif control-3.2.0/src/PaxHeaders.3947/sl_ab09id.cc0000644000000000000000000000013213450727360015532 xustar0030 mtime=1554231024.681432144 30 atime=1554231024.681432144 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ab09id.cc0000644000175000017500000003117713450727360016004 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Model reduction based on Balance & Truncate (B&T) or Singular Perturbation Approximation (SPA) method. Uses SLICOT AB09ID by courtesy of NICONET e.V. Author: Lukas Reichlin Created: October 2011 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (ab09id, AB09ID) (char& DICO, char& JOBC, char& JOBO, char& JOB, char& WEIGHT, char& EQUIL, char& ORDSEL, F77_INT& N, F77_INT& M, F77_INT& P, F77_INT& NV, F77_INT& PV, F77_INT& NW, F77_INT& MW, F77_INT& NR, double& ALPHA, double& ALPHAC, double& ALPHAO, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* AV, F77_INT& LDAV, double* BV, F77_INT& LDBV, double* CV, F77_INT& LDCV, double* DV, F77_INT& LDDV, double* AW, F77_INT& LDAW, double* BW, F77_INT& LDBW, double* CW, F77_INT& LDCW, double* DW, F77_INT& LDDW, F77_INT& NS, double* HSV, double& TOL1, double& TOL2, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ab09id__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ab09id__, args, nargout, "-*- texinfo -*-\n\ Slicot AB09ID Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 25) { print_usage (); } else { // arguments in char dico; char jobc; char jobo; char job; char weight; char equil; char ordsel; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); const F77_INT idico = args(4).int_value (); const F77_INT iequil = args(5).int_value (); F77_INT nr = args(6).int_value (); const F77_INT iordsel = args(7).int_value (); double alpha = args(8).double_value (); const F77_INT ijob = args(9).int_value (); Matrix av = args(10).matrix_value (); Matrix bv = args(11).matrix_value (); Matrix cv = args(12).matrix_value (); Matrix dv = args(13).matrix_value (); Matrix aw = args(14).matrix_value (); Matrix bw = args(15).matrix_value (); Matrix cw = args(16).matrix_value (); Matrix dw = args(17).matrix_value (); const F77_INT iweight = args(18).int_value (); const F77_INT ijobc = args(19).int_value (); double alphac = args(20).double_value (); const F77_INT ijobo = args(21).int_value (); double alphao = args(22).double_value (); double tol1 = args(23).double_value (); double tol2 = args(24).double_value (); if (idico == 0) dico = 'C'; else dico = 'D'; if (iequil == 0) equil = 'S'; else equil = 'N'; if (iordsel == 0) ordsel = 'F'; else ordsel = 'A'; if (ijobc == 0) jobc = 'S'; else jobc = 'E'; if (ijobo == 0) jobo = 'S'; else jobo = 'E'; switch (ijob) { case 0: job = 'B'; break; case 1: job = 'F'; break; case 2: job = 'S'; break; case 3: job = 'P'; break; default: error ("__sl_ab09id__: argument job invalid"); } switch (iweight) { case 0: weight = 'N'; break; case 1: weight = 'L'; break; case 2: weight = 'R'; break; case 3: weight = 'B'; break; default: error ("__sl_ab09id__: argument weight invalid"); } F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT nv = TO_F77_INT (av.rows ()); F77_INT pv = TO_F77_INT (cv.rows ()); F77_INT nw = TO_F77_INT (aw.rows ()); F77_INT mw = TO_F77_INT (bw.columns ()); F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); F77_INT ldd = max (1, p); F77_INT ldav = max (1, nv); F77_INT ldbv = max (1, nv); F77_INT ldcv = max (1, pv); F77_INT lddv = max (1, pv); F77_INT ldaw = max (1, nw); F77_INT ldbw = max (1, nw); F77_INT ldcw = max (1, m); F77_INT lddw = max (1, m); // arguments out F77_INT ns; ColumnVector hsv (n); // workspace F77_INT liwork; F77_INT liwrk1; F77_INT liwrk2; F77_INT liwrk3; switch (job) { case 'B': liwrk1 = 0; break; case 'F': liwrk1 = n; break; default: liwrk1 = 2*n; } if (nv == 0 || weight == 'R' || weight == 'N') liwrk2 = 0; else liwrk2 = nv + max (p, pv); if (nw == 0 || weight == 'L' || weight == 'N') liwrk3 = 0; else liwrk3 = nw + max (m, mw); liwork = max (3, liwrk1, liwrk2, liwrk3); F77_INT ldwork; F77_INT lminl; F77_INT lrcf; F77_INT lminr; F77_INT llcf; F77_INT lleft; F77_INT lright; if (nw == 0 || weight == 'L' || weight == 'N') { lrcf = 0; lminr = 0; } else { lrcf = mw*(nw+mw) + max (nw*(nw+5), mw*(mw+2), 4*mw, 4*m); if (m == mw) lminr = nw + max (nw, 3*m); else lminr = 2*nw*max (m, mw) + nw + max (nw, 3*m, 3*mw); } llcf = pv*(nv+pv) + pv*nv + max (nv*(nv+5), pv*(pv+2), 4*pv, 4*p); if (nv == 0 || weight == 'R' || weight == 'N') lminl = 0; else if (p == pv) lminl = max (llcf, nv + max (nv, 3*p)); else lminl = max (p, pv) * (2*nv + max (p, pv)) + max (llcf, nv + max (nv, 3*p, 3*pv)); if (pv == 0 || weight == 'R' || weight == 'N') lleft = n*(p+5); else lleft = (n+nv) * (n + nv + max (n+nv, pv) + 5); if (mw == 0 || weight == 'L' || weight == 'N') lright = n*(m+5); else lright = (n+nw) * (n + nw + max (n+nw, mw) + 5); ldwork = max (lminl, lminr, lrcf, 2*n*n + max (1, lleft, lright, 2*n*n+5*n, n*max (m, p))); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT iwarn = 0; F77_INT info = 0; // SLICOT routine AB09ID F77_XFCN (ab09id, AB09ID, (dico, jobc, jobo, job, weight, equil, ordsel, n, m, p, nv, pv, nw, mw, nr, alpha, alphac, alphao, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, av.fortran_vec (), ldav, bv.fortran_vec (), ldbv, cv.fortran_vec (), ldcv, dv.fortran_vec (), lddv, aw.fortran_vec (), ldaw, bw.fortran_vec (), ldbw, cw.fortran_vec (), ldcw, dw.fortran_vec (), lddw, ns, hsv.fortran_vec (), tol1, tol2, iwork, dwork, ldwork, iwarn, info)); if (f77_exception_encountered) error ("modred: exception in SLICOT subroutine AB09ID"); static const char* err_msg[] = { "0: OK", "1: the computation of the ordered real Schur form of A " "failed", "2: the separation of the ALPHA-stable/unstable " "diagonal blocks failed because of very close " "eigenvalues", "3: the reduction to a real Schur form of the state " "matrix of a minimal realization of V failed", "4: a failure was detected during the ordering of the " "real Schur form of the state matrix of a minimal " "realization of V or in the iterative process to " "compute a left coprime factorization with inner " "denominator", "5: if DICO = 'C' and the matrix AV has an observable " "eigenvalue on the imaginary axis, or DICO = 'D' and " "AV has an observable eigenvalue on the unit circle", "6: the reduction to a real Schur form of the state " "matrix of a minimal realization of W failed", "7: a failure was detected during the ordering of the " "real Schur form of the state matrix of a minimal " "realization of W or in the iterative process to " "compute a right coprime factorization with inner " "denominator", "8: if DICO = 'C' and the matrix AW has a controllable " "eigenvalue on the imaginary axis, or DICO = 'D' and " "AW has a controllable eigenvalue on the unit circle", "9: the computation of eigenvalues failed", "10: the computation of Hankel singular values failed"}; static const char* warn_msg[] = { "0: OK", "1: with ORDSEL = 'F', the selected order NR is greater " "than NSMIN, the sum of the order of the " "ALPHA-unstable part and the order of a minimal " "realization of the ALPHA-stable part of the given " "system; in this case, the resulting NR is set equal " "to NSMIN.", "2: with ORDSEL = 'F', the selected order NR corresponds " "to repeated singular values for the ALPHA-stable " "part, which are neither all included nor all " "excluded from the reduced model; in this case, the " "resulting NR is automatically decreased to exclude " "all repeated singular values.", "3: with ORDSEL = 'F', the selected order NR is less " "than the order of the ALPHA-unstable part of the " "given system; in this case NR is set equal to the " "order of the ALPHA-unstable part.", /* 10+%d: %d */ "violations of the numerical stability condition " "occurred during the assignment of eigenvalues in the " "SLICOT Library routines SB08CD and/or SB08DD."}; error_msg ("modred", info, 10, err_msg); warning_msg ("modred", iwarn, 3, warn_msg, 10); // resize a.resize (nr, nr); b.resize (nr, m); c.resize (p, nr); hsv.resize (ns); // return values retval(0) = a; retval(1) = b; retval(2) = c; retval(3) = d; retval(4) = octave_value (nr); retval(5) = hsv; retval(6) = octave_value (ns); } return retval; } control-3.2.0/src/PaxHeaders.3947/is_real_vector.cc0000644000000000000000000000013213450727360016764 xustar0030 mtime=1554231024.669431686 30 atime=1554231024.669431686 30 ctime=1554231028.525576056 control-3.2.0/src/is_real_vector.cc0000644000175000017500000000352313450727360017230 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Return true if all arguments are real-valued vectors and false otherwise. Author: Lukas Reichlin Created: September 2010 Version: 0.2 */ #include #include "config.h" // PKG_ADD: autoload ("is_real_vector", "__control_helper_functions__.oct"); DEFUN_DLD (is_real_vector, args, nargout, "-*- texinfo -*-\n\ @deftypefn {Loadable Function} {} is_real_vector (@var{a}, @dots{})\n\ Return true if all arguments are real-valued vectors and false otherwise.\n\ @var{[]} is not a valid vector.\n\ Avoid nasty stuff like @code{true = isreal (\"a\")}\n\ @seealso{is_real_square_matrix, is_real_matrix, is_real_scalar}\n\ @end deftypefn") { octave_value retval = true; octave_idx_type nargin = args.length (); if (nargin == 0) { print_usage (); } else { for (octave_idx_type i = 0; i < nargin; i++) { if (args(i).ndims () != 2 || ! (args(i).rows () == 1 || args(i).columns () == 1) || ! args(i).OV_ISNUMERIC () || ! args(i).OV_ISREAL ()) { retval = false; break; } } } return retval; } control-3.2.0/src/PaxHeaders.3947/undef-ah-octave.h0000644000000000000000000000013213450727360016574 xustar0030 mtime=1554231024.933441765 30 atime=1554231024.933441765 30 ctime=1554231028.525576056 control-3.2.0/src/undef-ah-octave.h0000644000175000017500000000070613450727360017040 0ustar00olafolaf00000000000000/* To be included at the top of config.h (by autoheader). Avoid warnings for redefining AH-generated preprocessor symbols of Octave. */ #ifdef PACKAGE_BUGREPORT #undef PACKAGE_BUGREPORT #endif #ifdef PACKAGE_NAME #undef PACKAGE_NAME #endif #ifdef PACKAGE_STRING #undef PACKAGE_STRING #endif #ifdef PACKAGE_TARNAME #undef PACKAGE_TARNAME #endif #ifdef PACKAGE_URL #undef PACKAGE_URL #endif #ifdef PACKAGE_VERSION #undef PACKAGE_VERSION #endif control-3.2.0/src/PaxHeaders.3947/common.cc0000644000000000000000000000013213450727360015254 xustar0030 mtime=1554231024.661431381 30 atime=1554231024.661431381 30 ctime=1554231028.525576056 control-3.2.0/src/common.cc0000644000175000017500000000522013450727360015514 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Common code for oct-files. Author: Lukas Reichlin Created: April 2010 Version: 0.4 */ #include #include #include "common.h" F77_INT max (F77_INT a, F77_INT b) { if (a > b) return a; else return b; } F77_INT max (F77_INT a, F77_INT b, F77_INT c) { return max (max (a, b), c); } F77_INT max (F77_INT a, F77_INT b, F77_INT c, F77_INT d) { return max (max (a, b), max (c, d)); } F77_INT max (F77_INT a, F77_INT b, F77_INT c, F77_INT d, F77_INT e) { return max (max (a, b, c, d), e); } F77_INT min (F77_INT a, F77_INT b) { if (a < b) return a; else return b; } void error_msg (const char name[], octave_idx_type index, octave_idx_type max, const char* msg[]) { if (index == 0) return; std::ostringstream os; if (index < 0) os << name << ": the " << index << "-th argument had an invalid value"; else if (index <= max) os << name << ": " << msg[index]; else os << name << ": unknown error, info = " << index; error ("%s", os.str ().c_str ()); } void warning_msg (const char name[], octave_idx_type index, octave_idx_type max, const char* msg[]) { if (index == 0) return; std::ostringstream os; if (index > 0 && index <= max) os << name << ": " << msg[index]; else os << name << ": unknown warning, iwarn = " << index; warning ("%s", os.str ().c_str ()); } void warning_msg (const char name[], octave_idx_type index, octave_idx_type max, const char* msg[], octave_idx_type offset) { if (index == 0) return; std::ostringstream os; if (index > 0 && index <= max) os << name << ": " << msg[index]; else if (index > offset) os << name << ": " << offset << "+" << (index - offset) << ": " << (index - offset) << " " << msg[max+1]; else os << name << ": unknown warning, iwarn = " << index; warning ("%s", os.str ().c_str ()); } control-3.2.0/src/PaxHeaders.3947/TG04BX.fortran0000644000000000000000000000013213450727360015762 xustar0030 mtime=1554231024.629430158 30 atime=1554231024.629430158 30 ctime=1554231028.525576056 control-3.2.0/src/TG04BX.fortran0000644000175000017500000002066413450727360016233 0ustar00olafolaf00000000000000 SUBROUTINE TG04BX( IP, IZ, A, LDA, E, B, C, D, PR, PI, ZR, ZI, $ GAIN, IWORK ) C C WARNING C C This routine is a modified version of TB04BX. It is intended C for the Octave Control Systems Package and supports Descriptor C State-Space models. TG04BX is *NOT* part of SLICOT and the C authors from NICONET e.V. are *NOT* responsible for it. C See file DESCRIPTION for the current maintainer of the Octave C control package. C C SLICOT RELEASE 5.0. C C Copyright (c) 2002-2009 NICONET e.V. C C This program is free software: you can redistribute it and/or C modify it under the terms of the GNU General Public License as C published by the Free Software Foundation, either version 2 of C the License, or (at your option) any later version. C C This program is distributed in the hope that it will be useful, C but WITHOUT ANY WARRANTY; without even the implied warranty of C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the C GNU General Public License for more details. C C You should have received a copy of the GNU General Public License C along with this program. If not, see C . C C PURPOSE C C To compute the gain of a single-input single-output linear system, C given its state-space representation (A,b,c,d), and its poles and C zeros. The matrix A is assumed to be in an upper Hessenberg form. C The gain is computed using the formula C C -1 IP IZ C g = (c*( S0*E - A ) *b + d)*Prod( S0 - Pi )/Prod( S0 - Zi ) , C i=1 i=1 (1) C C where Pi, i = 1 : IP, and Zj, j = 1 : IZ, are the poles and zeros, C respectively, and S0 is a real scalar different from all poles and C zeros. C C ARGUMENTS C C Input/Output Parameters C C IP (input) INTEGER C The number of the system poles. IP >= 0. C C IZ (input) INTEGER C The number of the system zeros. IZ >= 0. C C A (input/output) DOUBLE PRECISION array, dimension (LDA,IP) C On entry, the leading IP-by-IP part of this array must C contain the state dynamics matrix A in an upper Hessenberg C form. The elements below the second diagonal are not C referenced. C On exit, the leading IP-by-IP upper Hessenberg part of C this array contains the LU factorization of the matrix C A - S0*I, as computed by SLICOT Library routine MB02SD. C C LDA INTEGER C The leading dimension of array A. LDA >= max(1,IP). C C B (input/output) DOUBLE PRECISION array, dimension (IP) C On entry, this array must contain the system input C vector b. C On exit, this array contains the solution of the linear C system ( A - S0*I )x = b . C C C (input) DOUBLE PRECISION array, dimension (IP) C This array must contain the system output vector c. C C D (input) DOUBLE PRECISION C The variable must contain the system feedthrough scalar d. C C PR (input) DOUBLE PRECISION array, dimension (IP) C This array must contain the real parts of the system C poles. Pairs of complex conjugate poles must be stored in C consecutive memory locations. C C PI (input) DOUBLE PRECISION array, dimension (IP) C This array must contain the imaginary parts of the system C poles. C C ZR (input) DOUBLE PRECISION array, dimension (IZ) C This array must contain the real parts of the system C zeros. Pairs of complex conjugate zeros must be stored in C consecutive memory locations. C C ZI (input) DOUBLE PRECISION array, dimension (IZ) C This array must contain the imaginary parts of the system C zeros. C C GAIN (output) DOUBLE PRECISION C The gain of the linear system (A,b,c,d), given by (1). C C Workspace C C IWORK INTEGER array, dimension (IP) C On exit, it contains the pivot indices; for 1 <= i <= IP, C row i of the matrix A - S0*I was interchanged with C row IWORK(i). C C METHOD C C The routine implements the method presented in [1]. A suitable C value of S0 is chosen based on the system poles and zeros. C Then, the LU factorization of the upper Hessenberg, nonsingular C matrix A - S0*I is computed and used to solve the linear system C in (1). C C REFERENCES C C [1] Varga, A. and Sima, V. C Numerically Stable Algorithm for Transfer Function Matrix C Evaluation. C Int. J. Control, vol. 33, nr. 6, pp. 1123-1133, 1981. C C NUMERICAL ASPECTS C C The algorithm is numerically stable in practice and requires C O(IP*IP) floating point operations. C C CONTRIBUTORS C C V. Sima, Research Institute for Informatics, Bucharest, May 2002. C Partly based on the BIMASC Library routine GAIN by A. Varga. C C REVISIONS C C 2011-02-08 (Lukas Reichlin) Modifications for Descriptor Systems. C C KEYWORDS C C Eigenvalue, state-space representation, transfer function, zeros. C C ****************************************************************** C C .. Parameters .. DOUBLE PRECISION ZERO, ONE, TWO, P1, ONEP1 PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0, TWO = 2.0D0, $ P1 = 0.1D0, ONEP1 = 1.1D0 ) C .. Scalar Arguments .. DOUBLE PRECISION D, GAIN INTEGER IP, IZ, LDA C .. Array Arguments .. DOUBLE PRECISION A(LDA,*), E(LDA,*), B(*), C(*), PI(*), PR(*), $ ZI(*), ZR(*) INTEGER IWORK(*) C .. Local Scalars .. INTEGER I, J, INFO DOUBLE PRECISION S0, S C .. External Functions .. DOUBLE PRECISION DDOT EXTERNAL DDOT C .. External Subroutines .. C EXTERNAL MB02RD, MB02SD EXTERNAL DGETRF, DGETRS C .. Intrinsic Functions .. INTRINSIC ABS, MAX C .. C .. Executable Statements .. C C For efficiency, the input scalar parameters are not checked. C C Quick return if possible. C C IF( IP.EQ.0 ) THEN C GAIN = ZERO C RETURN C END IF C C Compute a suitable value for S0 . C S0 = ZERO C DO 10 I = 1, IP S = ABS( PR(I) ) IF ( PI(I).NE.ZERO ) $ S = S + ABS( PI(I) ) S0 = MAX( S0, S ) 10 CONTINUE C DO 20 I = 1, IZ S = ABS( ZR(I) ) IF ( ZI(I).NE.ZERO ) $ S = S + ABS( ZI(I) ) S0 = MAX( S0, S ) 20 CONTINUE C S0 = TWO*S0 + P1 IF ( S0.LE.ONE ) $ S0 = ONEP1 C C Form A - S0*E . C DO 30 J = 1, LDA DO 25 I = 1, LDA A(I,J) = A(I,J) - S0*E(I,J) 25 CONTINUE 30 CONTINUE C C Compute the LU factorization of the matrix A - S0*E C (guaranteed to be nonsingular). C C CALL MB02SD( IP, A, LDA, IWORK, INFO ) C CALL MB02SD( LDA, A, LDA, IWORK, INFO )oo CALL DGETRF( LDA, LDA, A, LDA, IWORK, INFO) C C Solve the linear system (A - S0*E)*x = b . C C CALL MB02RD( 'No Transpose', IP, 1, A, LDA, IWORK, B, IP, INFO ) C CALL MB02RD( 'No Transpose', IP, 1, A, LDA, IWORK, B, LDA, INFO ) C CALL MB02RD( 'No Transpose', LDA, 1, A, LDA, IWORK, B, LDA, INFO ) CALL DGETRS( 'No Transpose', LDA, 1, A, LDA, IWORK, B, LDA, INFO ) C -1 C Compute c*(S0*E - A) *b + d . C C GAIN = D - DDOT( IP, C, 1, B, 1 ) GAIN = D - DDOT( LDA, C, 1, B, 1 ) C C Multiply by the products in terms of poles and zeros in (1). C I = 1 C C WHILE ( I <= IP ) DO C 40 IF ( I.LE.IP ) THEN IF ( PI(I).EQ.ZERO ) THEN GAIN = GAIN*( S0 - PR(I) ) I = I + 1 ELSE GAIN = GAIN*( S0*( S0 - TWO*PR(I) ) + PR(I)**2 + PI(I)**2 ) I = I + 2 END IF GO TO 40 END IF C C END WHILE 40 C I = 1 C C WHILE ( I <= IZ ) DO C 50 IF ( I.LE.IZ ) THEN IF ( ZI(I).EQ.ZERO ) THEN GAIN = GAIN/( S0 - ZR(I) ) I = I + 1 ELSE GAIN = GAIN/( S0*( S0 - TWO*ZR(I) ) + ZR(I)**2 + ZI(I)**2 ) I = I + 2 END IF GO TO 50 END IF C C END WHILE 50 C RETURN C *** Last line of TG04BX *** END control-3.2.0/src/PaxHeaders.3947/sl_sb10ed.cc0000644000000000000000000000013213450727360015540 xustar0030 mtime=1554231024.709433214 30 atime=1554231024.709433214 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb10ed.cc0000644000175000017500000001423413450727360016005 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . H2 optimal state controller for a discrete-time system. Uses SLICOT SB10ED by courtesy of NICONET e.V. Author: Lukas Reichlin Created: November 2009 Version: 0.6 */ #include #include "common.h" extern "C" { int F77_FUNC (sb10ed, SB10ED) (F77_INT& N, F77_INT& M, F77_INT& NP, F77_INT& NCON, F77_INT& NMEAS, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* AK, F77_INT& LDAK, double* BK, F77_INT& LDBK, double* CK, F77_INT& LDCK, double* DK, F77_INT& LDDK, double* RCOND, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb10ed__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb10ed__, args, nargout, "-*- texinfo -*-\n\ Slicot SB10ED Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 6) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); F77_INT ncon = args(4).int_value (); F77_INT nmeas = args(5).int_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT np = TO_F77_INT (c.rows ()); // np: number of outputs F77_INT lda = max (1, TO_F77_INT (a.rows ())); F77_INT ldb = max (1, TO_F77_INT (b.rows ())); F77_INT ldc = max (1, TO_F77_INT (c.rows ())); F77_INT ldd = max (1, TO_F77_INT (d.rows ())); F77_INT ldak = max (1, n); F77_INT ldbk = max (1, n); F77_INT ldck = max (1, ncon); F77_INT lddk = max (1, ncon); double tol = 0; // arguments out Matrix ak (ldak, n); Matrix bk (ldbk, nmeas); Matrix ck (ldck, n); Matrix dk (lddk, nmeas); ColumnVector rcond (7); // workspace F77_INT m2 = ncon; F77_INT m1 = m - m2; F77_INT np1 = np - nmeas; F77_INT np2 = nmeas; F77_INT q = max (m1, m2, np1, np2); F77_INT ldwork = 2*q*(3*q+2*n)+max(1,(n+q)*(n+q+6),q*(q+max(n,q,5)+1), 2*n*n+max(1,14*n*n+6*n+max(14*n+23,16*n), q*(n+q+max(q,3)))); F77_INT liwork = max (2*m2, 2*n, n*n, np2); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, 2*n); // error indicator F77_INT info; // SLICOT routine SB10ED F77_XFCN (sb10ed, SB10ED, (n, m, np, ncon, nmeas, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, ak.fortran_vec (), ldak, bk.fortran_vec (), ldbk, ck.fortran_vec (), ldck, dk.fortran_vec (), lddk, rcond.fortran_vec (), tol, iwork, dwork, ldwork, bwork, info)); if (f77_exception_encountered) error ("h2syn: __sl_sb10ed__: exception in SLICOT subroutine SB10ED"); static const char* err_msg[] = { "0: OK", "1: the matrix [A-exp(j*Theta)*I, B2; C1, D12] " "had not full column rank in respect to the tolerance EPS", "2: the matrix [A-exp(j*Theta)*I, B1; C2, D21] " "had not full row rank in respect to the tolerance EPS", "3: the matrix D12 had not full column rank in " "respect to the tolerance TOL", "4: the matrix D21 had not full row rank in respect " "to the tolerance TOL", "5: the singular value decomposition (SVD) algorithm " "did not converge (when computing the SVD of one of the matrices " "[A-I, B2; C1, D12], [A-I, B1; C2, D21], D12 or D21)", "6: the X-Riccati equation was not solved successfully", "7: the matrix Im2 + B2'*X2*B2 is not positive " "definite, or it is numerically singular (with " "respect to the tolerance TOL)", "8: the Y-Riccati equation was not solved successfully", "9: the matrix Ip2 + C2*Y2*C2' is not positive " "definite, or it is numerically singular (with " "respect to the tolerance TOL)", "10: the matrix Im2 + DKHAT*D22 is singular, or its " "estimated condition number is larger than or equal " "to 1/TOL"}; error_msg ("h2syn", info, 10, err_msg); // return values retval(0) = ak; retval(1) = bk; retval(2) = ck; retval(3) = dk; retval(4) = rcond; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb10yd.cc0000644000000000000000000000013213450727360015564 xustar0030 mtime=1554231024.717433519 30 atime=1554231024.717433519 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb10yd.cc0000644000175000017500000001057313450727360016033 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Fit FRD with SS model. Uses SLICOT SB10YD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: October 2011 Version: 0.2 */ #include #include #include "common.h" extern "C" { int F77_FUNC (sb10yd, SB10YD) (F77_INT& DISCFL, F77_INT& FLAG, F77_INT& LENDAT, double* RFRDAT, double* IFRDAT, double* OMEGA, F77_INT& N, double* A, F77_INT& LDA, double* B, double* C, double* D, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, Complex* ZWORK, F77_INT& LZWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb10yd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb10yd__, args, nargout, "-*- texinfo -*-\n\ Slicot SB10YD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 6) { print_usage (); } else { // arguments in Matrix rfrdat = args(0).matrix_value (); Matrix ifrdat = args(1).matrix_value (); Matrix omega = args(2).matrix_value (); F77_INT n = args(3).int_value (); F77_INT discfl = args(4).int_value (); F77_INT flag = args(5).int_value (); F77_INT lendat = TO_F77_INT (omega.rows ()); // number of frequencies F77_INT lda = max (1, n); // arguments out Matrix a (lda, n); Matrix b (n, 1); Matrix c (1, n); Matrix d (1, 1); // workspace F77_INT liwork = max (2, 2*n + 1); F77_INT ldwork; F77_INT lzwork; F77_INT hnpts = 2048; F77_INT lw1 = 2*lendat + 4*hnpts; F77_INT lw2 = lendat + 6*hnpts; F77_INT mn = min (2*lendat, 2*n+1); F77_INT lw3; F77_INT lw4; if (n > 0) { lw3 = 2*lendat*(2*n+1) + max (2*lendat, 2*n+1) + max (mn + 6*n + 4, 2*mn + 1); lzwork = lendat*(2*n+3); } else { lw3 = 4*lendat + 5; lzwork = lendat; } if (flag == 1) lw4 = max (n*n + 5*n, 6*n + 1 + min (1, n)); else lw4 = 0; ldwork = max (2, lw1, lw2, lw3, lw4); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (Complex, zwork, lzwork); // tolerance double tol = 0; // error indicator F77_INT info; // SLICOT routine SB10YD F77_XFCN (sb10yd, SB10YD, (discfl, flag, lendat, rfrdat.fortran_vec (), ifrdat.fortran_vec (), omega.fortran_vec (), n, a.fortran_vec (), lda, b.fortran_vec (), c.fortran_vec (), d.fortran_vec (), tol, iwork, dwork, ldwork, zwork, lzwork, info)); if (f77_exception_encountered) error ("fitfrd: __sl_sb10yd__: exception in SLICOT subroutine SB10YD"); if (info != 0) error ("fitfrd: __sl_sb10yd__: SB10YD returned info = %d", info); // return values retval(0) = a; retval(1) = b; retval(2) = c; retval(3) = d; retval(4) = octave_value (n); } return retval; } control-3.2.0/src/PaxHeaders.3947/is_real_scalar.cc0000644000000000000000000000013213450727360016727 xustar0030 mtime=1554231024.669431686 30 atime=1554231024.669431686 30 ctime=1554231028.525576056 control-3.2.0/src/is_real_scalar.cc0000644000175000017500000000344413450727360017175 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Return true if all arguments are real-valued scalars and false otherwise. Author: Lukas Reichlin Created: September 2010 Version: 0.2 */ #include #include "config.h" // PKG_ADD: autoload ("is_real_scalar", "__control_helper_functions__.oct"); DEFUN_DLD (is_real_scalar, args, nargout, "-*- texinfo -*-\n\ @deftypefn {Loadable Function} {} is_real_scalar (@var{a}, @dots{})\n\ Return true if all arguments are real-valued scalars and false otherwise.\n\ @var{[]} is not a valid scalar.\n\ Avoid nasty stuff like @code{true = isreal (\"a\")}\n\ @seealso{is_real_matrix, is_real_vector}\n\ @end deftypefn") { octave_value retval = true; octave_idx_type nargin = args.length (); if (nargin == 0) { print_usage (); } else { for (octave_idx_type i = 0; i < nargin; i++) { if (args(i).ndims () != 2 || ! args(i).is_scalar_type () || ! args(i).OV_ISNUMERIC () || ! args(i).OV_ISREAL ()) { retval = false; break; } } } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_tb01ud.cc0000644000000000000000000000013213450727360015561 xustar0030 mtime=1554231024.729433977 30 atime=1554231024.729433977 30 ctime=1554231028.525576056 control-3.2.0/src/sl_tb01ud.cc0000644000175000017500000000750013450727360016024 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Orthogonal canonical form. Uses SLICOT TB01UD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: October 2011 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (tb01ud, TB01UD) (char& JOBZ, F77_INT& N, F77_INT& M, F77_INT& P, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, F77_INT& NCONT, F77_INT& INDCON, F77_INT* NBLK, double* Z, F77_INT& LDZ, double* TAU, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_tb01ud__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_tb01ud__, args, nargout, "-*- texinfo -*-\n\ Slicot TB01UD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 4) { print_usage (); } else { // arguments in char jobz = 'I'; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); double tol = args(3).double_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); F77_INT ldz = max (1, n); // arguments out Matrix z (ldz, n); F77_INT ncont; F77_INT indcon; OCTAVE_LOCAL_BUFFER (F77_INT, nblk, n); OCTAVE_LOCAL_BUFFER (double, tau, n); // workspace F77_INT ldwork = max (1, n, 3*m, p); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, m); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT info; // SLICOT routine TB01UD F77_XFCN (tb01ud, TB01UD, (jobz, n, m, p, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, ncont, indcon, nblk, z.fortran_vec (), ldz, tau, tol, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("__sl_tb01ud__: exception in SLICOT subroutine TB01UD"); if (info != 0) error ("__sl_tb01ud__: TB01UD returned info = %d", info); // resize a.resize (n, n); b.resize (n, m); c.resize (p, n); z.resize (n, n); // return values retval(0) = a; retval(1) = b; retval(2) = c; retval(3) = z; retval(4) = octave_value (ncont); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb10hd.cc0000644000000000000000000000013213450727360015543 xustar0030 mtime=1554231024.709433214 30 atime=1554231024.709433214 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb10hd.cc0000644000175000017500000001232513450727360016007 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . H2 optimal state controller for a continuous-time system. Uses SLICOT SB10HD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: November 2009 Version: 0.6 */ #include #include "common.h" extern "C" { int F77_FUNC (sb10hd, SB10HD) (F77_INT& N, F77_INT& M, F77_INT& NP, F77_INT& NCON, F77_INT& NMEAS, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* AK, F77_INT& LDAK, double* BK, F77_INT& LDBK, double* CK, F77_INT& LDCK, double* DK, F77_INT& LDDK, double* RCOND, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb10hd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb10hd__, args, nargout, "-*- texinfo -*-\n\ Slicot SB10HD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 6) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); F77_INT ncon = args(4).int_value (); F77_INT nmeas = args(5).int_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT np = TO_F77_INT (c.rows ()); // np: number of outputs F77_INT lda = max (1, TO_F77_INT (a.rows ())); F77_INT ldb = max (1, TO_F77_INT (b.rows ())); F77_INT ldc = max (1, TO_F77_INT (c.rows ())); F77_INT ldd = max (1, TO_F77_INT (d.rows ())); F77_INT ldak = max (1, n); F77_INT ldbk = max (1, n); F77_INT ldck = max (1, ncon); F77_INT lddk = max (1, ncon); double tol = 0; // arguments out Matrix ak (ldak, n); Matrix bk (ldbk, nmeas); Matrix ck (ldck, n); Matrix dk (lddk, nmeas); ColumnVector rcond (4); // workspace F77_INT m2 = ncon; F77_INT m1 = m - m2; F77_INT np1 = np - nmeas; F77_INT np2 = nmeas; F77_INT q = max (m1, m2, np1, np2); F77_INT ldwork = 2*q*(3*q + 2*n) + max (1, q*(q + max (n, 5) + 1), n*(14*n + 12 + 2*q) + 5); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, max (2*n, n*n)); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, 2*n); // error indicator F77_INT info; // SLICOT routine SB10HD F77_XFCN (sb10hd, SB10HD, (n, m, np, ncon, nmeas, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, ak.fortran_vec (), ldak, bk.fortran_vec (), ldbk, ck.fortran_vec (), ldck, dk.fortran_vec (), lddk, rcond.fortran_vec (), tol, iwork, dwork, ldwork, bwork, info)); if (f77_exception_encountered) error ("h2syn: __sl_sb10hd__: exception in SLICOT subroutine SB10HD"); static const char* err_msg[] = { "0: OK", "1: the matrix D12 had not full column rank in " "respect to the tolerance TOL", "2: the matrix D21 had not full row rank in respect " "to the tolerance TOL", "3: the singular value decomposition (SVD) algorithm " "did not converge (when computing the SVD of one of " "the matrices D12 or D21)", "4: the X-Riccati equation was not solved successfully", "5: the Y-Riccati equation was not solved successfully"}; error_msg ("h2syn", info, 5, err_msg); // return values retval(0) = ak; retval(1) = bk; retval(2) = ck; retval(3) = dk; retval(4) = rcond; } return retval; } control-3.2.0/src/PaxHeaders.3947/is_matrix.cc0000644000000000000000000000013213450727360015763 xustar0030 mtime=1554231024.665431533 30 atime=1554231024.665431533 30 ctime=1554231028.525576056 control-3.2.0/src/is_matrix.cc0000644000175000017500000000343313450727360016227 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Return true if all arguments are matrices and false otherwise. Author: Lukas Reichlin Created: June 2012 Version: 0.2 */ #include #include "config.h" // PKG_ADD: autoload ("is_matrix", "__control_helper_functions__.oct"); DEFUN_DLD (is_matrix, args, nargout, "-*- texinfo -*-\n\ @deftypefn {Loadable Function} {} is_matrix (@var{a}, @dots{})\n\ Return true if all arguments are matrices and false otherwise.\n\ @var{[]} is a valid matrix.\n\ Avoid nasty stuff like @code{true = isreal (\"a\")}\n\ @seealso{is_real_matrix, is_real_square_matrix, is_real_vector, is_real_scalar}\n\ @end deftypefn") { octave_value retval = true; octave_idx_type nargin = args.length (); if (nargin == 0) { print_usage (); } else { for (octave_idx_type i = 0; i < nargin; i++) { if (args(i).ndims () != 2 || ! args(i).OV_ISNUMERIC () || ! (args(i).OV_ISCOMPLEX () || args(i).OV_ISREAL ())) { retval = false; break; } } } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_mb05nd.cc0000644000000000000000000000013213450727360015547 xustar0030 mtime=1554231024.697432756 30 atime=1554231024.697432756 30 ctime=1554231028.525576056 control-3.2.0/src/sl_mb05nd.cc0000644000175000017500000000720113450727360016010 0ustar00olafolaf00000000000000/* Copyright (C) 2014-2015 Thomas Vasileiou This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Matrix exponential and integral for a real matrix. Uses SLICOT MB05ND by courtesy of NICONET e.V. Author: Thomas Vasileiou Created: March 2014 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (mb05nd, MB05ND) (F77_INT& N, double& DELTA, double* A, F77_INT& LDA, double* EX, F77_INT& LDEX, double* EXINT, F77_INT& LDEXINT, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_mb05nd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_mb05nd__, args, nargout, "-*- texinfo -*-\n\ Slicot MB05ND Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 3) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); double delta = args(1).double_value (); double tol = args(2).double_value (); F77_INT n = TO_F77_INT (a.rows ()); F77_INT lda = max (1, n); F77_INT ldex = max (1, n); F77_INT ldexin = max (1, n); // arguments out Matrix ex (ldex, n); Matrix exint (ldexin, n); // workspace F77_INT ldwork = max (1, 2*n*n); // optimum performance OCTAVE_LOCAL_BUFFER (F77_INT, iwork, n); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT info = 0; // SLICOT routine MB05ND F77_XFCN (mb05nd, MB05ND, (n, delta, a.fortran_vec (), lda, ex.fortran_vec (), ldex, exint.fortran_vec (), ldexin, tol, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("__sl_mb05nd__: exception in SLICOT subroutine MB05ND"); if (info > 0) { if (info == n+1) info = 2; else info = 1; } static const char* err_msg[] = { "0: OK", "1: some element of the denominator of the Pade " "approximation is zero, so the denominator " "is exactly singular.", "2: DELTA = (delta * frobenius norm of matrix A) is " "probably too large to permit meaningful computation. " "That is, DELTA > SQRT(BIG), where BIG is a " "representable number near the overflow threshold of " "the machine."}; error_msg ("__sl_mb05nd__", info, 2, err_msg); // return values retval(0) = ex; retval(1) = exint; } return retval; } control-3.2.0/src/PaxHeaders.3947/bootstrap0000644000000000000000000000013213450727360015415 xustar0030 mtime=1554231024.661431381 30 atime=1554231024.953442529 30 ctime=1554231028.525576056 control-3.2.0/src/bootstrap0000755000175000017500000000005513450727360015661 0ustar00olafolaf00000000000000#! /bin/sh aclocal autoconf autoheader -f control-3.2.0/src/PaxHeaders.3947/lti_input_idx.cc0000644000000000000000000000013213450727360016637 xustar0030 mtime=1554231024.673431839 30 atime=1554231024.673431839 30 ctime=1554231028.525576056 control-3.2.0/src/lti_input_idx.cc0000644000175000017500000000633213450727360017104 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . First, this function implemented the following Octave function in C++ function [mat_idx, opt_idx] = __lti_input_idx__ (varargin) str_idx = find (cellfun (@ischar, varargin)); if (isempty (str_idx)) mat_idx = 1 : nargin; opt_idx = []; else mat_idx = 1 : str_idx(1)-1; opt_idx = str_idx(1) : nargin; endif endfunction Later on, the C++ function was extended such that it recognizes classes in some cases. See comment block in the code for details. I know this looks like a horrible definition for a function, but it is exactly the behavior I need. Author: Lukas Reichlin Created: October 2015 Version: 0.1 */ #include #include "config.h" // PKG_ADD: autoload ("__lti_input_idx__", "__control_helper_functions__.oct"); DEFUN_DLD (__lti_input_idx__, args, , "-*- texinfo -*-\n\ @deftypefn {Loadable Function} {[@var{mat_idx}, @var{opt_idx}, @var{obj_flg}] =} __lti_input_idx__ (@var{args})\n\ Return some indices for cell @var{args}. For internal use only.\n\ Read the source code in @code{lti_input_idx.cc} for details.\n\ @end deftypefn") { octave_value_list retval; octave_idx_type nargin = args.length (); // first, check whether a cell is passed if (nargin == 1 && args(0).is_defined () && args(0).OV_ISCELL ()) { octave_idx_type len = args(0).cell_value().numel(); octave_idx_type idx = len; octave_idx_type offset = 0; // if the cell is not empty, look for the first string for (octave_idx_type i = 0; i < len; i++) { if (args(0).cell_value().elem(i).is_string ()) { idx = i; break; } } // ** If the element before the first string is an object, // then this object belongs to the option index. // ss (d, ltisys, 'key', val) // ** If there is no string at all in cell args(0), check // whether the last element in args(0) is an object. // If so, this object also belongs to the option index. // tf (num, den, ltisys) // ** All other objects (before built-in types (except chars) // and after strings) are not recognized as objects. // ss (a, b, ltisys, c, d, 'key', val, 'lti', ltisys) if (len > 0 && idx > 0 && args(0).cell_value().elem(idx-1).OV_ISOBJECT ()) { offset = 1; } Range mat_idx (1, idx-offset); Range opt_idx (idx+1-offset, len); retval(2) = offset; // abused as logical in the LTI constructors retval(1) = opt_idx; retval(0) = mat_idx; } else { print_usage (); } return retval; } control-3.2.0/src/PaxHeaders.3947/slicot.tar.gz0000644000000000000000000000013113450727360016100 xustar0030 mtime=1554231024.933441765 29 atime=1554231024.92544146 30 ctime=1554231028.525576056 control-3.2.0/src/slicot.tar.gz0000644000175000017500001156520413450727360016360 0ustar00olafolaf00000000000000‹×}òLslicot.tarìýis9²/Ïk~ŠŠyþq-É"»€Úg‹Ðbwë´%k¼OLÜ %ÚæYò¥îöÄùð2K¢6)ŠZ\5Ór‘ÄšH$@æ/G?üáÖŸP=Y¿"KbüWý¿×Ï„ˆ³8ÎÒL¦À_ã?Éí7í¸ž]/ƒà¿Î¦_Æ-éŽ.Î'ëhÏšŸÑ³³éÉÅÕm²Á"ã§0þ"²ÿu_þûÿžŽ¯Æ+e‡…Æ~±Œúñ_ËÓ4þ»»j†ÑH}¸qóƾê'5êŠ`þ'I–ý!Wп¹Ïw>þA„#5ûOÃP½ öÖ½ü†b”&Q4*Ô÷ÃP¨ï“QÕfˆF1&’ê]ŽŠÜd–£Øeà‰ÄHà{¤Þ 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Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Hankel singular values. Uses SLICOT AB13AD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: January 2010 Version: 0.4 */ #include #include "common.h" extern "C" { int F77_FUNC (ab13ad, AB13AD) (char& DICO, char& EQUIL, F77_INT& N, F77_INT& M, F77_INT& P, double& ALPHA, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, F77_INT& NS, double* HSV, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ab13ad__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ab13ad__, args, nargout, "-*- texinfo -*-\n\ Slicot AB13AD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 6) { print_usage (); } else { // arguments in char dico; char equil; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); F77_INT discrete = args(3).int_value (); double alpha = args(4).double_value (); const F77_INT scaled = args(5).int_value (); if (discrete == 0) dico = 'C'; else dico = 'D'; if (scaled == 0) equil = 'S'; else equil = 'N'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, TO_F77_INT (a.rows ())); F77_INT ldb = max (1, TO_F77_INT (b.rows ())); F77_INT ldc = max (1, TO_F77_INT (c.rows ())); // arguments out F77_INT ns = 0; ColumnVector hsv (n); // workspace F77_INT ldwork = max (1, n*(max (n, m, p) + 5) + n*(n+1)/2); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT info = 0; // SLICOT routine AB13AD F77_XFCN (ab13ad, AB13AD, (dico, equil, n, m, p, alpha, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, ns, hsv.fortran_vec (), dwork, ldwork, info)); if (f77_exception_encountered) error ("hsvd: __sl_ab13ad__: exception in SLICOT subroutine AB13AD"); if (info != 0) error ("hsvd: __sl_ab13ad__: AB13AD returned info = %d", info); // resize hsv.resize (ns); // return values retval(0) = hsv; retval(1) = octave_value (ns); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb10dd.cc0000644000000000000000000000013213450727360015537 xustar0030 mtime=1554231024.705433061 30 atime=1554231024.705433061 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb10dd.cc0000644000175000017500000001443713450727360016011 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . H-infinity (sub)optimal state controller for a discrete-time system. Uses SLICOT SB10DD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: December 2009 Version: 0.6 */ #include #include "common.h" extern "C" { int F77_FUNC (sb10dd, SB10DD) (F77_INT& N, F77_INT& M, F77_INT& NP, F77_INT& NCON, F77_INT& NMEAS, double& GAMMA, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* AK, F77_INT& LDAK, double* BK, F77_INT& LDBK, double* CK, F77_INT& LDCK, double* DK, F77_INT& LDDK, double* X, F77_INT& LDX, double* Z, F77_INT& LDZ, double* RCOND, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb10dd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb10dd__, args, nargout, "-*- texinfo -*-\n\ Slicot SB10DD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 7) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); F77_INT ncon = args(4).int_value (); F77_INT nmeas = args(5).int_value (); double gamma = args(6).double_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT np = TO_F77_INT (c.rows ()); // np: number of outputs F77_INT lda = max (1, TO_F77_INT (a.rows ())); F77_INT ldb = max (1, TO_F77_INT (b.rows ())); F77_INT ldc = max (1, TO_F77_INT (c.rows ())); F77_INT ldd = max (1, TO_F77_INT (d.rows ())); F77_INT ldak = max (1, n); F77_INT ldbk = max (1, n); F77_INT ldck = max (1, ncon); F77_INT lddk = max (1, ncon); F77_INT ldx = max (1, n); F77_INT ldz = max (1, n); double tol = 0; // arguments out Matrix ak (ldak, n); Matrix bk (ldbk, nmeas); Matrix ck (ldck, n); Matrix dk (lddk, nmeas); Matrix x (ldx, n); Matrix z (ldz, n); ColumnVector rcond (8); // workspace F77_INT m2 = ncon; F77_INT m1 = m - m2; F77_INT np1 = np - nmeas; F77_INT np2 = nmeas; F77_INT liwork = max (2*max (m2, n), m, m2+np2, n*n); F77_INT q = max (m1, m2, np1, np2); F77_INT ldwork = max ((n+q)*(n+q+6), 13*n*n + m*m + 2*q*q + n*(m+q) + max (m*(m+7*n), 2*q*(8*n+m+2*q)) + 6*n + max (14*n+23, 16*n, 2*n + max (m, 2*q), 3*max (m, 2*q))); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, 2*n); // error indicator F77_INT info; // SLICOT routine SB10DD F77_XFCN (sb10dd, SB10DD, (n, m, np, ncon, nmeas, gamma, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, ak.fortran_vec (), ldak, bk.fortran_vec (), ldbk, ck.fortran_vec (), ldck, dk.fortran_vec (), lddk, x.fortran_vec (), ldx, z.fortran_vec (), ldz, rcond.fortran_vec (), tol, iwork, dwork, ldwork, bwork, info)); if (f77_exception_encountered) error ("hinfsyn: __sl_sb10dd__: exception in SLICOT subroutine SB10DD"); static const char* err_msg[] = { "0: OK", "1: the matrix [A-exp(j*Theta)*I, B2; C1, D12] " "had not full column rank", "2: the matrix | A-exp(j*Theta)*I, B1; C2, D21] " "had not full row rank", "3: the matrix D12 had not full column rank", "4: the matrix D21 had not full row rank", "5: the controller is not admissible " "(too small value of gamma)", "6: the X-Riccati equation was not solved " "successfully (the controller is not admissible or " "there are numerical difficulties)", "7: the Z-Riccati equation was not solved " "successfully (the controller is not admissible or " "there are numerical difficulties)", "8: the matrix Im2 + DKHAT*D22 is singular", "9: the singular value decomposition (SVD) algorithm " "did not converge (when computing the SVD of one of " "the matrices [A, B2; C1, D12], [A, B1; C2, D21], D12 or D21)"}; error_msg ("hinfsyn", info, 9, err_msg); // return values retval(0) = ak; retval(1) = bk; retval(2) = ck; retval(3) = dk; retval(4) = rcond; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_ab09hd.cc0000644000000000000000000000013213450727360015531 xustar0030 mtime=1554231024.681432144 30 atime=1554231024.681432144 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ab09hd.cc0000644000175000017500000001713613450727360016002 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Model reduction based on balanced stochastic truncation method. Uses SLICOT AB09HD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: October 2011 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (ab09hd, AB09HD) (char& DICO, char& JOB, char& EQUIL, char& ORDSEL, F77_INT& N, F77_INT& M, F77_INT& P, F77_INT& NR, double& ALPHA, double& BETA, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, F77_INT& NS, double* HSV, double& TOL1, double& TOL2, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ab09hd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ab09hd__, args, nargout, "-*- texinfo -*-\n\ Slicot AB09HD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 13) { print_usage (); } else { // arguments in char dico; char job; char equil; char ordsel; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); const F77_INT idico = args(4).int_value (); const F77_INT iequil = args(5).int_value (); const F77_INT ijob = args(6).int_value (); F77_INT nr = args(7).int_value (); const F77_INT iordsel = args(8).int_value (); double alpha = args(9).double_value (); double beta = args(10).double_value (); double tol1 = args(11).double_value (); double tol2 = args(12).double_value (); switch (ijob) { case 0: job = 'B'; break; case 1: job = 'F'; break; case 2: job = 'S'; break; case 3: job = 'P'; break; default: error ("__sl_ab09hd__: argument job invalid"); } if (idico == 0) dico = 'C'; else dico = 'D'; if (iequil == 0) equil = 'S'; else equil = 'N'; if (iordsel == 0) ordsel = 'F'; else ordsel = 'A'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); F77_INT ldd = max (1, p); // arguments out F77_INT ns; ColumnVector hsv (n); // workspace F77_INT liwork = max (1, 2*n); F77_INT mb; if (beta == 0) mb = m; else mb = m + p; F77_INT ldwork = 2*n*n + mb*(n+p) + max (2, n*(max (n,mb,p)+5), 2*n*p + max (p*(mb+2), 10*n*(n+1))); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, 2*n); // error indicators F77_INT iwarn = 0; F77_INT info = 0; // SLICOT routine AB09HD F77_XFCN (ab09hd, AB09HD, (dico, job, equil, ordsel, n, m, p, nr, alpha, beta, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, ns, hsv.fortran_vec (), tol1, tol2, iwork, dwork, ldwork, bwork, iwarn, info)); if (f77_exception_encountered) error ("bstmodred: exception in SLICOT subroutine AB09HD"); static const char* err_msg[] = { "0: OK", "1: the computation of the ordered real Schur form of A " "failed", "2: the reduction of the Hamiltonian matrix to real " "Schur form failed", "3: the reordering of the real Schur form of the " "Hamiltonian matrix failed", "4: the Hamiltonian matrix has less than N stable " "eigenvalues", "5: the coefficient matrix U11 in the linear system " "X*U11 = U21 to determine X is singular to working " "precision", "6: BETA = 0 and D has not a maximal row rank", "7: the computation of Hankel singular values failed", "8: the separation of the ALPHA-stable/unstable diagonal " "blocks failed because of very close eigenvalues", "9: the resulting order of reduced stable part is less " "than the number of unstable zeros of the stable " "part"}; static const char* warn_msg[] = { "0: OK", "1: with ORDSEL = 'F', the selected order NR is greater " "than NSMIN, the sum of the order of the " "ALPHA-unstable part and the order of a minimal " "realization of the ALPHA-stable part of the given " "system; in this case, the resulting NR is set equal " "to NSMIN.", "2: with ORDSEL = 'F', the selected order NR corresponds " "to repeated singular values for the ALPHA-stable " "part, which are neither all included nor all " "excluded from the reduced model; in this case, the " "resulting NR is automatically decreased to exclude " "all repeated singular values.", "3: with ORDSEL = 'F', the selected order NR is less " "than the order of the ALPHA-unstable part of the " "given system; in this case NR is set equal to the " "order of the ALPHA-unstable part."}; error_msg ("bstmodred", info, 9, err_msg); warning_msg ("bstmodred", iwarn, 3, warn_msg); // resize a.resize (nr, nr); b.resize (nr, m); c.resize (p, nr); hsv.resize (ns); // return values retval(0) = a; retval(1) = b; retval(2) = c; retval(3) = d; retval(4) = octave_value (nr); retval(5) = hsv; retval(6) = octave_value (ns); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_ab13bd.cc0000644000000000000000000000013213450727360015516 xustar0030 mtime=1554231024.685432297 30 atime=1554231024.685432297 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ab13bd.cc0000644000175000017500000000775413450727360015774 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . H-2 norm of a SS model. Uses SLICOT AB13BD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: November 2009 Version: 0.5 */ #include #include "common.h" extern "C" { double F77_FUNC (ab13bd, AB13BD) (char& DICO, char& JOBN, F77_INT& N, F77_INT& M, F77_INT& P, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, F77_INT& NQ, double& TOL, double* DWORK, F77_INT& LDWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ab13bd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ab13bd__, args, nargout, "-*- texinfo -*-\n\ Slicot AB13BD Release 5.\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 5) { print_usage (); } else { // arguments in char dico; char jobn = 'H'; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); F77_INT discrete = args(4).int_value (); if (discrete == 0) dico = 'C'; else dico = 'D'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, TO_F77_INT (a.rows ())); F77_INT ldb = max (1, TO_F77_INT (b.rows ())); F77_INT ldc = max (1, TO_F77_INT (c.rows ())); F77_INT ldd = max (1, TO_F77_INT (d.rows ())); // arguments out double norm; F77_INT nq; // tolerance double tol = 0; // workspace F77_INT ldwork = max (1, m*(n+m) + max (n*(n+5), m*(m+2), 4*p ), n*(max (n, p) + 4 ) + min (n, p)); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT iwarn; F77_INT info; // SLICOT routine AB13BD norm = F77_FUNC (ab13bd, AB13BD) (dico, jobn, n, m, p, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, nq, tol, dwork, ldwork, iwarn, info); if (f77_exception_encountered) error ("lti: norm: __sl_ab13bd__: exception in SLICOT subroutine AB13BD"); if (info != 0) error ("lti: norm: __sl_ab13bd__: AB13BD returned info = %d", info); if (iwarn != 0) warning ("lti: norm: __sl_ab13bd__: AB13BD returned iwarn = %d", iwarn); // return value retval(0) = octave_value (norm); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sg03ad.cc0000644000000000000000000000013213450727360015543 xustar0030 mtime=1554231024.725433824 30 atime=1554231024.725433824 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sg03ad.cc0000644000175000017500000001015413450727360016005 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Solution of generalized Lyapunov equations. Uses SLICOT SG03AD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: January 2010 Version: 0.3 */ #include #include "common.h" extern "C" { int F77_FUNC (sg03ad, SG03AD) (char& DICO, char& JOB, char& FACT, char& TRANS, char& UPLO, F77_INT& N, double* A, F77_INT& LDA, double* E, F77_INT& LDE, double* Q, F77_INT& LDQ, double* Z, F77_INT& LDZ, double* X, F77_INT& LDX, double& SCALE, double& SEP, double& FERR, double* ALPHAR, double* ALPHAI, double* BETA, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sg03ad__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sg03ad__, args, nargout, "-*- texinfo -*-\n\ Slicot SG03AD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 4) { print_usage (); } else { // arguments in char dico; char job = 'X'; char fact = 'N'; char trans = 'T'; char uplo = 'U'; // ?!? Matrix a = args(0).matrix_value (); Matrix e = args(1).matrix_value (); Matrix x = args(2).matrix_value (); F77_INT discrete = args(3).int_value (); if (discrete == 0) dico = 'C'; else dico = 'D'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT lda = max (1, n); F77_INT lde = max (1, n); F77_INT ldq = max (1, n); F77_INT ldz = max (1, n); F77_INT ldx = max (1, n); // arguments out double scale; double sep = 0; double ferr = 0; Matrix q (ldq, n); Matrix z (ldz, n); ColumnVector alphar (n); ColumnVector alphai (n); ColumnVector beta (n); // workspace F77_INT* iwork = 0; // not referenced because job = X F77_INT ldwork = max (1, 4*n); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // SLICOT routine SG03AD F77_XFCN (sg03ad, SG03AD, (dico, job, fact, trans, uplo, n, a.fortran_vec (), lda, e.fortran_vec (), lde, q.fortran_vec (), ldq, z.fortran_vec (), ldz, x.fortran_vec (), ldx, scale, sep, ferr, alphar.fortran_vec (), alphai.fortran_vec (), beta.fortran_vec (), iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("lyap: __sl_sg03ad__: exception in SLICOT subroutine SG03AD"); if (info != 0) error ("lyap: __sl_sg03ad__: SG03AD returned info = %d", info); // return values retval(0) = x; retval(1) = octave_value (scale); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_tg01id.cc0000644000000000000000000000013213450727360015552 xustar0030 mtime=1554231024.737434282 30 atime=1554231024.737434282 30 ctime=1554231028.525576056 control-3.2.0/src/sl_tg01id.cc0000644000175000017500000001040113450727360016007 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Staircase observability form for descriptor models. Uses SLICOT TG01ID by courtesy of NICONET e.V. Author: Lukas Reichlin Created: September 2010 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (tg01id, TG01ID) (char& JOBOBS, char& COMPQ, char& COMPZ, F77_INT& N, F77_INT& M, F77_INT& P, double* A, F77_INT& LDA, double* E, F77_INT& LDE, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* Q, F77_INT& LDQ, double* Z, F77_INT& LDZ, F77_INT& NOBSV, F77_INT& NIUOBS, F77_INT& NLBLCK, F77_INT* CTAU, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_tg01id__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_tg01id__, args, nargout, "Slicot TG01ID Release 5.0") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 5) { print_usage (); } else { // arguments in char jobobs = 'O'; char compq = 'I'; char compz = 'I'; Matrix a = args(0).matrix_value (); Matrix e = args(1).matrix_value (); Matrix b = args(2).matrix_value (); Matrix c = args(3).matrix_value (); double tol = args(4).double_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT lde = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, m, p); F77_INT ldq = max (1, n); F77_INT ldz = max (1, n); b.resize (ldb, max (m, p)); // arguments out Matrix q (ldq, n); Matrix z (ldz, n); F77_INT nobsv; F77_INT niuobs; F77_INT nlblck; OCTAVE_LOCAL_BUFFER (F77_INT, ctau, n); // workspace F77_INT ldwork = max (n, 2*p); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, p); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT info; // SLICOT routine TG01ID F77_XFCN (tg01id, TG01ID, (jobobs, compq, compz, n, m, p, a.fortran_vec (), lda, e.fortran_vec (), lde, b.fortran_vec (), ldb, c.fortran_vec (), ldc, q.fortran_vec (), ldq, z.fortran_vec (), ldz, nobsv, niuobs, nlblck, ctau, tol, iwork, dwork, info)); if (f77_exception_encountered) error ("__sl_tg01id__: exception in SLICOT subroutine TG01ID"); if (info != 0) error ("__sl_tg01id__: TG01ID returned info = %d", info); // resize a.resize (n, n); e.resize (n, n); b.resize (n, m); c.resize (p, n); q.resize (n, n); z.resize (n, n); // return values retval(0) = a; retval(1) = e; retval(2) = b; retval(3) = c; retval(4) = q; retval(5) = z; retval(6) = octave_value (nobsv); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_ident.cc0000644000000000000000000000013213450727360015565 xustar0030 mtime=1554231024.693432602 30 atime=1554231024.693432602 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ident.cc0000644000175000017500000006205713450727360016040 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . SLICOT system identification Uses SLICOT IB01AD, IB01BD and IB01CD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: March 2012 Version: 0.2 */ #include #include #include "common.h" extern "C" { int F77_FUNC (ib01ad, IB01AD) (char& METH, char& ALG, char& JOBD, char& BATCH, char& CONCT, char& CTRL, F77_INT& NOBR, F77_INT& M, F77_INT& L, F77_INT& NSMP, double* U, F77_INT& LDU, double* Y, F77_INT& LDY, F77_INT& N, double* R, F77_INT& LDR, double* SV, double& RCOND, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& IWARN, F77_INT& INFO); int F77_FUNC (ib01bd, IB01BD) (char& METH, char& JOB, char& JOBCK, F77_INT& NOBR, F77_INT& N, F77_INT& M, F77_INT& L, F77_INT& NSMPL, double* R, F77_INT& LDR, double* A, F77_INT& LDA, double* C, F77_INT& LDC, double* B, F77_INT& LDB, double* D, F77_INT& LDD, double* Q, F77_INT& LDQ, double* RY, F77_INT& LDRY, double* S, F77_INT& LDS, double* K, F77_INT& LDK, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& IWARN, F77_INT& INFO); int F77_FUNC (ib01cd, IB01CD) (char& JOBX0, char& COMUSE, char& JOB, F77_INT& N, F77_INT& M, F77_INT& L, F77_INT& NSMP, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* U, F77_INT& LDU, double* Y, F77_INT& LDY, double* X0, double* V, F77_INT& LDV, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ident__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ident__, args, nargout, "-*- texinfo -*-\n\ Slicot IB01AD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 10) { print_usage (); } else { //////////////////////////////////////////////////////////////////////////////////// // SLICOT IB01AD - preprocess the input-output data // //////////////////////////////////////////////////////////////////////////////////// // arguments in char meth_a; char meth_b; char alg; char jobd; char batch; char conct; char ctrl; const Cell y_cell = args(0).cell_value (); const Cell u_cell = args(1).cell_value (); F77_INT nobr = args(2).int_value (); F77_INT nuser = args(3).int_value (); const F77_INT imeth = args(4).int_value (); const F77_INT ialg = args(5).int_value (); const F77_INT iconct = args(6).int_value (); const F77_INT ictrl = args(7).int_value (); double rcond = args(8).double_value (); double tol_a = args(9).double_value (); double tol_b = rcond; double tol_c = rcond; switch (imeth) { case 0: meth_a = 'M'; meth_b = 'M'; break; case 1: meth_a = 'N'; meth_b = 'N'; break; case 2: meth_a = 'N'; // no typo here meth_b = 'C'; break; default: error ("__sl_ib01ad__: argument 'meth' invalid"); } switch (ialg) { case 0: alg = 'C'; break; case 1: alg = 'F'; break; case 2: alg = 'Q'; break; default: error ("__sl_ib01ad__: argument 'alg' invalid"); } if (meth_a == 'M') jobd = 'M'; else // meth_a == 'N' jobd = 'N'; // IB01AD.f says: This parameter is not relevant for METH = 'N' if (iconct == 0) conct = 'C'; else conct = 'N'; if (ictrl == 0) ctrl = 'C'; else ctrl = 'N'; // m and l are equal for all experiments, checked by iddata class F77_INT n_exp = TO_F77_INT (y_cell.numel ()); // number of experiments F77_INT m = TO_F77_INT (u_cell.elem(0).columns ()); // m: number of inputs F77_INT l = TO_F77_INT (y_cell.elem(0).columns ()); // l: number of outputs F77_INT nsmpl = 0; // total number of samples // arguments out F77_INT n; F77_INT ldr; if (meth_a == 'M' && jobd == 'M') ldr = max (2*(m+l)*nobr, 3*m*nobr); else if (meth_a == 'N' || (meth_a == 'M' && jobd == 'N')) ldr = 2*(m+l)*nobr; else error ("__sl_ib01ad__: could not handle 'ldr' case"); Matrix r (ldr, 2*(m+l)*nobr); ColumnVector sv (l*nobr); // repeat for every experiment in the dataset for (F77_INT i = 0; i < n_exp; i++) { if (n_exp == 1) batch = 'O'; // one block only else if (i == 0) batch = 'F'; // first block else if (i == n_exp-1) batch = 'L'; // last block else batch = 'I'; // intermediate block Matrix y = y_cell.elem(i).matrix_value (); Matrix u = u_cell.elem(i).matrix_value (); // y.rows == u.rows is checked by iddata class // F77_INT m = TO_F77_INT (u.columns ()); // m: number of inputs // F77_INT l = TO_F77_INT (y.columns ()); // l: number of outputs F77_INT nsmp = TO_F77_INT (y.rows ()); // nsmp: number of samples in the current experiment nsmpl += nsmp; // nsmpl: total number of samples of all experiments // minimal nsmp size checked by __slicot_identification__.m if (batch == 'O') { if (nsmp < 2*(m+l+1)*nobr - 1) error ("__sl_ident__: require NSMP >= 2*(M+L+1)*NOBR - 1"); } else { if (nsmp < 2*nobr) error ("__sl_ident__: require NSMP >= 2*NOBR"); } F77_INT ldu; if (m == 0) ldu = 1; else // m > 0 ldu = nsmp; F77_INT ldy = nsmp; // workspace F77_INT liwork_a; if (meth_a == 'N') // if METH = 'N' liwork_a = (m+l)*nobr; else if (alg == 'F') // if METH = 'M' and ALG = 'F' liwork_a = m+l; else // if METH = 'M' and ALG = 'C' or 'Q' liwork_a = 0; // TODO: Handle 'k' for DWORK F77_INT ldwork_a; F77_INT ns = nsmp - 2*nobr + 1; if (alg == 'C') { if (batch == 'F' || batch == 'I') { if (conct == 'C') ldwork_a = (4*nobr-2)*(m+l); else // (conct == 'N') ldwork_a = 1; } else if (meth_a == 'M') // && (batch == 'L' || batch == 'O') { if (conct == 'C' && batch == 'L') ldwork_a = max ((4*nobr-2)*(m+l), 5*l*nobr); else if (jobd == 'M') ldwork_a = max ((2*m-1)*nobr, (m+l)*nobr, 5*l*nobr); else // (jobd == 'N') ldwork_a = 5*l*nobr; } else // meth_b == 'N' && (batch == 'L' || batch == 'O') { ldwork_a = 5*(m+l)*nobr + 1; } } else if (alg == 'F') { if (batch != 'O' && conct == 'C') ldwork_a = (m+l)*2*nobr*(m+l+3); else if (batch == 'F' || batch == 'I') // && conct == 'N' ldwork_a = (m+l)*2*nobr*(m+l+1); else // (batch == 'L' || '0' && conct == 'N') ldwork_a = (m+l)*4*nobr*(m+l+1)+(m+l)*2*nobr; } else // (alg == 'Q') { // F77_INT ns = nsmp - 2*nobr + 1; if (ldr >= ns && batch == 'F') { ldwork_a = 4*(m+l)*nobr; } else if (ldr >= ns && batch == 'O') { if (meth_a == 'M') ldwork_a = max (4*(m+l)*nobr, 5*l*nobr); else // (meth == 'N') ldwork_a = 5*(m+l)*nobr + 1; } else if (conct == 'C' && (batch == 'I' || batch == 'L')) { ldwork_a = 4*(nobr+1)*(m+l)*nobr; } else // if ALG = 'Q', (BATCH = 'F' or 'O', and LDR < NS), or (BATCH = 'I' or 'L' and CONCT = 'N') { ldwork_a = 6*(m+l)*nobr; } } /* IB01AD.f Lines 438-445 C FURTHER COMMENTS C C For ALG = 'Q', BATCH = 'O' and LDR < NS, or BATCH <> 'O', the C calculations could be rather inefficient if only minimal workspace C (see argument LDWORK) is provided. It is advisable to provide as C much workspace as possible. Almost optimal efficiency can be C obtained for LDWORK = (NS+2)*(2*(M+L)*NOBR), assuming that the C cache size is large enough to accommodate R, U, Y, and DWORK. */ ldwork_a = max (ldwork_a, (ns+2)*(2*(m+l)*nobr)); /* IB01AD.f Lines 291-195: c the workspace used for alg = 'q' is c ldrwrk*2*(m+l)*nobr + 4*(m+l)*nobr, c where ldrwrk = ldwork/(2*(m+l)*nobr) - 2; recommended c value ldrwrk = ns, assuming a large enough cache size. c for good performance, ldwork should be larger. somehow ldrwrk and ldwork must have been mixed up here */ OCTAVE_LOCAL_BUFFER (F77_INT, iwork_a, liwork_a); OCTAVE_LOCAL_BUFFER (double, dwork_a, ldwork_a); // error indicators F77_INT iwarn_a = 0; F77_INT info_a = 0; // SLICOT routine IB01AD F77_XFCN (ib01ad, IB01AD, (meth_a, alg, jobd, batch, conct, ctrl, nobr, m, l, nsmp, u.fortran_vec (), ldu, y.fortran_vec (), ldy, n, r.fortran_vec (), ldr, sv.fortran_vec (), rcond, tol_a, iwork_a, dwork_a, ldwork_a, iwarn_a, info_a)); if (f77_exception_encountered) error ("ident: exception in SLICOT subroutine IB01AD"); static const char* err_msg[] = { "0: OK", "1: a fast algorithm was requested (ALG = 'C', or 'F') " "in sequential data processing, but it failed; the " "routine can be repeatedly called again using the " "standard QR algorithm", "2: the singular value decomposition (SVD) algorithm did " "not converge"}; static const char* warn_msg[] = { "0: OK", "1: the number of 100 cycles in sequential data " "processing has been exhausted without signaling " "that the last block of data was get; the cycle " "counter was reinitialized", "2: a fast algorithm was requested (ALG = 'C' or 'F'), " "but it failed, and the QR algorithm was then used " "(non-sequential data processing)", "3: all singular values were exactly zero, hence N = 0 " "(both input and output were identically zero)", "4: the least squares problems with coefficient matrix " "U_f, used for computing the weighted oblique " "projection (for METH = 'N'), have a rank-deficient " "coefficient matrix", "5: the least squares problem with coefficient matrix " "r_1 [6], used for computing the weighted oblique " "projection (for METH = 'N'), has a rank-deficient " "coefficient matrix"}; error_msg ("ident: IB01AD", info_a, 2, err_msg); warning_msg ("ident: IB01AD", iwarn_a, 5, warn_msg); } // resize F77_INT rs = 2*(m+l)*nobr; r.resize (rs, rs); if (nuser > 0) { if (nuser < nobr) { n = nuser; // warning ("ident: nuser (%d) < nobr (%d), n = nuser", nuser, nobr); } else error ("ident: 'nuser' invalid"); } //////////////////////////////////////////////////////////////////////////////////// // SLICOT IB01BD - estimating system matrices, Kalman gain, and covariances // //////////////////////////////////////////////////////////////////////////////////// // arguments in char job = 'A'; char jobck = 'K'; //F77_INT nsmpl = nsmp; if (nsmpl < 2*(m+l)*nobr) error ("__sl_ident__: nsmpl (%d) < 2*(m+l)*nobr (%d)", nsmpl, nobr); // arguments out F77_INT lda = max (1, n); F77_INT ldc = max (1, l); F77_INT ldb = max (1, n); F77_INT ldd = max (1, l); F77_INT ldq = n; // if JOBCK = 'C' or 'K' F77_INT ldry = l; // if JOBCK = 'C' or 'K' F77_INT lds = n; // if JOBCK = 'C' or 'K' F77_INT ldk = n; // if JOBCK = 'K' Matrix a (lda, n); Matrix c (ldc, n); Matrix b (ldb, m); Matrix d (ldd, m); Matrix q (ldq, n); Matrix ry (ldry, l); Matrix s (lds, l); Matrix k (ldk, l); // workspace F77_INT liwork_b; F77_INT liw1; F77_INT liw2; liw1 = max (n, m*nobr+n, l*nobr, m*(n+l)); liw2 = n*n; // if JOBCK = 'K' liwork_b = max (liw1, liw2); F77_INT ldwork_b; F77_INT ldw1; F77_INT ldw2; F77_INT ldw3; if (meth_b == 'M') { F77_INT ldw1a = max (2*(l*nobr-l)*n+2*n, (l*nobr-l)*n+n*n+7*n); F77_INT ldw1b = max (2*(l*nobr-l)*n+n*n+7*n, (l*nobr-l)*n+n+6*m*nobr, (l*nobr-l)*n+n+max (l+m*nobr, l*nobr + max (3*l*nobr+1, m))); ldw1 = max (ldw1a, ldw1b); F77_INT aw; if (m == 0 || job == 'C') aw = n + n*n; else aw = 0; ldw2 = l*nobr*n + max ((l*nobr-l)*n+aw+2*n+max(5*n,(2*m+l)*nobr+l), 4*(m*nobr+n)+1, m*nobr+2*n+l ); } else if (meth_b == 'N') { ldw1 = l*nobr*n + max ((l*nobr-l)*n+2*n+(2*m+l)*nobr+l, 2*(l*nobr-l)*n+n*n+8*n, n+4*(m*nobr+n)+1, m*nobr+3*n+l); if (m == 0 || job == 'C') ldw2 = 0; else ldw2 = l*nobr*n+m*nobr*(n+l)*(m*(n+l)+1)+ max ((n+l)*(n+l), 4*m*(n+l)+1); } else // (meth_b == 'C') { F77_INT ldw1a = max (2*(l*nobr-l)*n+2*n, (l*nobr-l)*n+n*n+7*n); F77_INT ldw1b = l*nobr*n + max ((l*nobr-l)*n+2*n+(2*m+l)*nobr+l, 2*(l*nobr-l)*n+n*n+8*n, n+4*(m*nobr+n)+1, m*nobr+3*n+l); ldw1 = max (ldw1a, ldw1b); ldw2 = l*nobr*n+m*nobr*(n+l)*(m*(n+l)+1)+ max ((n+l)*(n+l), 4*m*(n+l)+1); } ldw3 = max(4*n*n + 2*n*l + l*l + max (3*l, n*l), 14*n*n + 12*n + 5); ldwork_b = max (ldw1, ldw2, ldw3); OCTAVE_LOCAL_BUFFER (F77_INT, iwork_b, liwork_b); OCTAVE_LOCAL_BUFFER (double, dwork_b, ldwork_b); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, 2*n); // error indicators F77_INT iwarn_b = 0; F77_INT info_b = 0; // SLICOT routine IB01BD F77_XFCN (ib01bd, IB01BD, (meth_b, job, jobck, nobr, n, m, l, nsmpl, r.fortran_vec (), ldr, a.fortran_vec (), lda, c.fortran_vec (), ldc, b.fortran_vec (), ldb, d.fortran_vec (), ldd, q.fortran_vec (), ldq, ry.fortran_vec (), ldry, s.fortran_vec (), lds, k.fortran_vec (), ldk, tol_b, iwork_b, dwork_b, ldwork_b, bwork, iwarn_b, info_b)); if (f77_exception_encountered) error ("ident: exception in SLICOT subroutine IB01BD"); static const char* err_msg_b[] = { "0: OK", "1: error message not specified", "2: the singular value decomposition (SVD) algorithm did " "not converge", "3: a singular upper triangular matrix was found", "4: matrix A is (numerically) singular in discrete-" "time case", "5: the Hamiltonian or symplectic matrix H cannot be " "reduced to real Schur form", "6: the real Schur form of the Hamiltonian or " "symplectic matrix H cannot be appropriately ordered", "7: the Hamiltonian or symplectic matrix H has less " "than N stable eigenvalues", "8: the N-th order system of linear algebraic " "equations, from which the solution matrix X would " "be obtained, is singular to working precision", "9: the QR algorithm failed to complete the reduction " "of the matrix Ac to Schur canonical form, T", "10: the QR algorithm did not converge"}; static const char* warn_msg_b[] = { "0: OK", "1: warning message not specified", "2: warning message not specified", "3: warning message not specified", "4: a least squares problem to be solved has a " "rank-deficient coefficient matrix", "5: the computed covariance matrices are too small. " "The problem seems to be a deterministic one; the " "gain matrix is set to zero"}; error_msg ("ident: IB01BD", info_b, 10, err_msg_b); warning_msg ("ident: IB01BD", iwarn_b, 5, warn_msg_b); // resize a.resize (n, n); c.resize (l, n); b.resize (n, m); d.resize (l, m); q.resize (n, n); ry.resize (l, l); s.resize (n, l); k.resize (n, l); //////////////////////////////////////////////////////////////////////////////////// // SLICOT IB01CD - estimating the initial state // //////////////////////////////////////////////////////////////////////////////////// // arguments in char jobx0 = 'X'; char comuse = 'U'; char jobbd = 'D'; // arguments out Cell x0_cell (n_exp, 1); // cell of initial state vectors x0 // repeat for every experiment in the dataset // compute individual initial state vector x0 for every experiment for (F77_INT i = 0; i < n_exp; i++) { Matrix y = y_cell.elem(i).matrix_value (); Matrix u = u_cell.elem(i).matrix_value (); F77_INT nsmp = TO_F77_INT (y.rows ()); // nsmp: number of samples F77_INT ldv = max (1, n); F77_INT ldu; if (m == 0) ldu = 1; else // m > 0 ldu = nsmp; F77_INT ldy = nsmp; // arguments out ColumnVector x0 (n); Matrix v (ldv, n); // workspace F77_INT liwork_c = n; // if JOBX0 = 'X' and COMUSE <> 'C' F77_INT ldwork_c; F77_INT t = nsmp; F77_INT ldw1_c = 2; F77_INT ldw2_c = t*l*(n + 1) + 2*n + max (2*n*n, 4*n); F77_INT ldw3_c = n*(n + 1) + 2*n + max (n*l*(n + 1) + 2*n*n + l*n, 4*n); ldwork_c = ldw1_c + n*( n + m + l ) + max (5*n, ldw1_c, min (ldw2_c, ldw3_c)); OCTAVE_LOCAL_BUFFER (F77_INT, iwork_c, liwork_c); OCTAVE_LOCAL_BUFFER (double, dwork_c, ldwork_c); // error indicators F77_INT iwarn_c = 0; F77_INT info_c = 0; // SLICOT routine IB01CD F77_XFCN (ib01cd, IB01CD, (jobx0, comuse, jobbd, n, m, l, nsmp, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, u.fortran_vec (), ldu, y.fortran_vec (), ldy, x0.fortran_vec (), v.fortran_vec (), ldv, tol_c, iwork_c, dwork_c, ldwork_c, iwarn_c, info_c)); if (f77_exception_encountered) error ("ident: exception in SLICOT subroutine IB01CD"); static const char* err_msg_c[] = { "0: OK", "1: the QR algorithm failed to compute all the " "eigenvalues of the matrix A (see LAPACK Library " "routine DGEES); the locations DWORK(i), for " "i = g+1:g+N*N, contain the partially converged " "Schur form", "2: the singular value decomposition (SVD) algorithm did " "not converge"}; static const char* warn_msg_c[] = { "0: OK", "1: warning message not specified", "2: warning message not specified", "3: warning message not specified", "4: the least squares problem to be solved has a " "rank-deficient coefficient matrix", "5: warning message not specified", "6: the matrix A is unstable; the estimated x(0) " "and/or B and D could be inaccurate"}; error_msg ("ident: IB01CD", info_c, 2, err_msg_c); warning_msg ("ident: IB01CD", iwarn_c, 6, warn_msg_c); x0_cell.elem(i) = x0; // add x0 from the current experiment to cell of initial state vectors } // return values retval(0) = a; retval(1) = b; retval(2) = c; retval(3) = d; retval(4) = q; retval(5) = ry; retval(6) = s; retval(7) = k; retval(8) = x0_cell; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb16bd.cc0000644000000000000000000000013213450727360015543 xustar0030 mtime=1554231024.721433672 30 atime=1554231024.721433672 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb16bd.cc0000644000175000017500000001655713450727360016022 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . TODO Uses SLICOT SB16BD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: November 2011 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (sb16bd, SB16BD) (char& DICO, char& JOBD, char& JOBMR, char& JOBCF, char& EQUIL, char& ORDSEL, F77_INT& N, F77_INT& M, F77_INT& P, F77_INT& NCR, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* F, F77_INT& LDF, double* G, F77_INT& LDG, double* DC, F77_INT& LDDC, double* HSV, double& TOL1, double& TOL2, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb16bd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb16bd__, args, nargout, "-*- texinfo -*-\n\ Slicot SB16BD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 15) { print_usage (); } else { // arguments in char dico; char jobd; char jobmr; char jobcf; char equil; char ordsel; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); const F77_INT idico = args(4).int_value (); const F77_INT iequil = args(5).int_value (); F77_INT ncr = args(6).int_value (); const F77_INT iordsel = args(7).int_value (); const F77_INT ijobd = args(8).int_value (); const F77_INT ijobmr = args(9).int_value (); Matrix f = args(10).matrix_value (); Matrix g = args(11).matrix_value (); const F77_INT ijobcf = args(12).int_value (); double tol1 = args(13).double_value (); double tol2 = args(14).double_value (); if (idico == 0) dico = 'C'; else dico = 'D'; if (iequil == 0) equil = 'S'; else equil = 'N'; if (iordsel == 0) ordsel = 'F'; else ordsel = 'A'; if (ijobd == 0) jobd = 'Z'; else jobd = 'D'; if (ijobcf == 0) jobcf = 'L'; else jobcf = 'R'; switch (ijobmr) { case 0: jobmr = 'B'; break; case 1: jobmr = 'F'; break; case 2: jobmr = 'S'; break; case 3: jobmr = 'P'; break; default: error ("__sl_sb16bd__: argument jobmr invalid"); } F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); F77_INT ldd; if (jobd == 'Z') ldd = 1; else ldd = max (1, p); F77_INT ldf = max (1, m); F77_INT ldg = max (1, n); F77_INT lddc = max (1, m); // arguments out Matrix dc (lddc, p); ColumnVector hsv (n); // workspace F77_INT liwork; F77_INT pm; F77_INT ldwork; F77_INT lwr = max (1, n*(2*n+max(n,m+p)+5)+n*(n+1)/2); switch (jobmr) { case 'B': pm = 0; break; case 'F': pm = n; break; default: // if JOBMR = 'S' or 'P' pm = max (1, 2*n); } if (ordsel == 'F' && ncr == n) { liwork = 0; ldwork = p*n; } else if (jobcf == 'L') { liwork = max (pm, m); ldwork = (n+m)*(m+p) + max (lwr, 4*m); } else // if JOBCF = 'R' { liwork = max (pm, p); ldwork = (n+p)*(m+p) + max (lwr, 4*p); } OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT iwarn = 0; F77_INT info = 0; // SLICOT routine SB16BD F77_XFCN (sb16bd, SB16BD, (dico, jobd, jobmr, jobcf, equil, ordsel, n, m, p, ncr, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, f.fortran_vec (), ldf, g.fortran_vec (), ldg, dc.fortran_vec (), lddc, hsv.fortran_vec (), tol1, tol2, iwork, dwork, ldwork, iwarn, info)); if (f77_exception_encountered) error ("cfconred: exception in SLICOT subroutine SB16BD"); static const char* err_msg[] = { "0: OK", "1: the reduction of A-L*C to a real Schur form " "failed", "2: the matrix A-L*C is not stable (if DICO = 'C'), " "or not convergent (if DICO = 'D')", "3: the computation of Hankel singular values failed", "4: the reduction of A-B*F to a real Schur form " "failed", "5: the matrix A-B*F is not stable (if DICO = 'C'), " "or not convergent (if DICO = 'D')"}; static const char* warn_msg[] = { "0: OK", "1: with ORDSEL = 'F', the selected order NCR is " "greater than the order of a minimal " "realization of the controller."}; error_msg ("cfconred", info, 5, err_msg); warning_msg ("cfconred", iwarn, 1, warn_msg); // resize a.resize (ncr, ncr); // Ac g.resize (ncr, p); // Bc f.resize (m, ncr); // Cc dc.resize (m, p); // Dc // return values retval(0) = a; retval(1) = g; retval(2) = f; retval(3) = dc; retval(4) = octave_value (ncr); retval(5) = hsv; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_ab01od.cc0000644000000000000000000000013213450727360015530 xustar0030 mtime=1554231024.677431991 30 atime=1554231024.677431991 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ab01od.cc0000644000175000017500000000742313450727360015777 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Staircase controllability form. Uses SLICOT AB01OD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: August 2010 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (ab01od, AB01OD) (char& STAGES, char& JOBU, char& JOBV, F77_INT& N, F77_INT& M, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* U, F77_INT& LDU, double* V, F77_INT& LDV, F77_INT& NCONT, F77_INT& INDCON, F77_INT* KSTAIR, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ab01od__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ab01od__, args, nargout, "-*- texinfo -*-\n\ Slicot AB01OD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 3) { print_usage (); } else { // arguments in char stages = 'F'; char jobu = 'I'; char jobv = 'N'; // not referenced because stages = 'F' Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); double tol = args(2).double_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldu = max (1, n); F77_INT ldv = 1; // arguments out Matrix u (ldu, n); double* v = 0; // not referenced because stages = 'F' F77_INT ncont; F77_INT indcon; OCTAVE_LOCAL_BUFFER (F77_INT, kstair, n); // workspace F77_INT ldwork = max (1, n + max (n, 3*m)); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, m); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT info; // SLICOT routine AB01OD F77_XFCN (ab01od, AB01OD, (stages, jobu, jobv, n, m, a.fortran_vec (), lda, b.fortran_vec (), ldb, u.fortran_vec (), ldu, v, ldv, ncont, indcon, kstair, tol, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("__sl_ab01od__: exception in SLICOT subroutine AB01OD"); if (info != 0) error ("__sl_ab01od__: AB01OD returned info = %d", info); // resize a.resize (n, n); b.resize (n, m); u.resize (n, n); // return values retval(0) = a; retval(1) = b; retval(2) = u; retval(3) = octave_value (ncont); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_tg04bx.cc0000644000000000000000000000013213450727360015572 xustar0030 mtime=1554231024.737434282 30 atime=1554231024.737434282 30 ctime=1554231028.525576056 control-3.2.0/src/sl_tg04bx.cc0000644000175000017500000000665513450727360016047 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Gain of descriptor state-space models. Based on SLICOT TB04BX.f. Author: Lukas Reichlin Created: March 2011 Version: 0.2 */ #include #include "common.h" #include #include extern "C" { int F77_FUNC (tg04bx, TG04BX) (F77_INT& IP, F77_INT& IZ, double* A, F77_INT& LDA, double* E, double* B, double* C, double* D, double* PR, double* PI, double* ZR, double* ZI, double& GAIN, F77_INT* IWORK); } // PKG_ADD: autoload ("__sl_tg04bx__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_tg04bx__, args, nargout, "-*- texinfo -*-\n\ Slicot TG04BX Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 9) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix e = args(1).matrix_value (); Matrix b = args(2).matrix_value (); Matrix c = args(3).matrix_value (); Matrix d = args(4).matrix_value (); ColumnVector pr = args(5).column_vector_value (); ColumnVector pi = args(6).column_vector_value (); ColumnVector zr = args(7).column_vector_value (); ColumnVector zi = args(8).column_vector_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT ip = TO_F77_INT (pr.numel ()); // ip: number of finite poles F77_INT iz = TO_F77_INT (zr.numel ()); // iz: number of zeros // For ss, IP = n is always true. // However, dss models with poles at infinity // (filtered by pole.m) may have IP <= n // Take pr.length == pi.length == ip for granted, // and the same for iz, zr and zi. F77_INT lda = max (1, n); // arguments out double gain; // workspace OCTAVE_LOCAL_BUFFER (F77_INT, iwork, lda); F77_XFCN (tg04bx, TG04BX, (ip, iz, a.fortran_vec (), lda, e.fortran_vec (), b.fortran_vec (), c.fortran_vec (), d.fortran_vec (), pr.fortran_vec (), pi.fortran_vec (), zr.fortran_vec (), zi.fortran_vec (), gain, iwork)); if (f77_exception_encountered) error ("dss: zero: __sl_tg04bx__: exception in TG04BX"); // return values retval(0) = octave_value (gain); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_ag08bd.cc0000644000000000000000000000013013450727360015525 xustar0029 mtime=1554231024.68943245 29 atime=1554231024.68943245 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ag08bd.cc0000644000175000017500000001747313450727360016004 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Finite Smith zeros of descriptor state-space models. Uses SLICOT AG08BD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: September 2010 Version: 0.5 */ #include #include "common.h" #include #include extern "C" { int F77_FUNC (ag08bd, AG08BD) (char& EQUIL, F77_INT& L, F77_INT& N, F77_INT& M, F77_INT& P, double* A, F77_INT& LDA, double* E, F77_INT& LDE, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, F77_INT& NFZ, F77_INT& NRANK, F77_INT& NIZ, F77_INT& DINFZ, F77_INT& NKROR, F77_INT& NINFE, F77_INT& NKROL, F77_INT* INFZ, F77_INT* KRONR, F77_INT* INFE, F77_INT* KRONL, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); int F77_FUNC (dggev, DGGEV) (char& JOBVL, char& JOBVR, F77_INT& N, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* ALPHAR, double* ALPHAI, double* BETA, double* VL, F77_INT& LDVL, double* VR, F77_INT& LDVR, double* WORK, F77_INT& LWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ag08bd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ag08bd__, args, nargout, "-*- texinfo -*-\n\ Slicot AG08BD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 6) { print_usage (); } else { // arguments in char equil; Matrix a = args(0).matrix_value (); Matrix e = args(1).matrix_value (); Matrix b = args(2).matrix_value (); Matrix c = args(3).matrix_value (); Matrix d = args(4).matrix_value (); const F77_INT scaled = args(5).int_value (); if (scaled == 0) equil = 'S'; else equil = 'N'; F77_INT l = TO_F77_INT (a.rows ()); // l: number of states F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, l); F77_INT lde = max (1, l); F77_INT ldb = max (1, l); if (m == 0) ldb = 1; F77_INT ldc = max (1, p); F77_INT ldd = max (1, p); // arguments out F77_INT nfz; F77_INT nrank; F77_INT niz; F77_INT dinfz; F77_INT nkror; F77_INT ninfe; F77_INT nkrol; OCTAVE_LOCAL_BUFFER (F77_INT, infz, n+1); OCTAVE_LOCAL_BUFFER (F77_INT, kronr, n+m+1); OCTAVE_LOCAL_BUFFER (F77_INT, infe, 1 + min (l+p, n+m)); OCTAVE_LOCAL_BUFFER (F77_INT, kronl, l+p+1); // workspace F77_INT ldwork = max (l+p, m+n) * (m+n) + max (1, 5 * max (l+p, m+n)); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, n + max (1, m)); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // tolerance double tol = 0; // AG08BD uses DLAMCH for default tolerance // SLICOT routine AG08BD F77_XFCN (ag08bd, AG08BD, (equil, l, n, m, p, a.fortran_vec (), lda, e.fortran_vec (), lde, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, nfz, nrank, niz, dinfz, nkror, ninfe, nkrol, infz, kronr, infe, kronl, tol, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("dss: zero: __sl_ag08bd__: exception in SLICOT subroutine AG08BD"); if (info != 0) error ("dss: zero: __sl_ag08bd__: AG08BD returned info = %d", info); // DGGEV Part a.resize (nfz, nfz); // Af e.resize (nfz, nfz); // Ef lda = max (1, nfz); lde = max (1, nfz); char jobvl = 'N'; char jobvr = 'N'; ColumnVector alphar (nfz); ColumnVector alphai (nfz); ColumnVector beta (nfz); double* vl = 0; // not referenced because jobvl = 'N' F77_INT ldvl = 1; double* vr = 0; // not referenced because jobvr = 'N' F77_INT ldvr = 1; F77_INT lwork = max (1, 8*nfz); OCTAVE_LOCAL_BUFFER (double, work, lwork); F77_INT info2; F77_XFCN (dggev, DGGEV, (jobvl, jobvr, nfz, a.fortran_vec (), lda, e.fortran_vec (), lde, alphar.fortran_vec (), alphai.fortran_vec (), beta.fortran_vec (), vl, ldvl, vr, ldvr, work, lwork, info2)); if (f77_exception_encountered) error ("dss: zero: __sl_ag08bd__: exception in LAPACK subroutine DGGEV"); if (info2 != 0) error ("dss: zero: __sl_ag08bd__: DGGEV returned info = %d", info2); // assemble complex vector - adapted from DEFUN complex in data.cc // LAPACK DGGEV.f says: // // Note: the quotients ALPHAR(j)/BETA(j) and ALPHAI(j)/BETA(j) // may easily over- or underflow, and BETA(j) may even be zero. // Thus, the user should avoid naively computing the ratio // alpha/beta. However, ALPHAR and ALPHAI will be always less // than and usually comparable with norm(A) in magnitude, and // BETA always less than and usually comparable with norm(B). // // Since we need the zeros explicitly ... ColumnVector zeror (nfz); ColumnVector zeroi (nfz); zeror = quotient (alphar, beta); zeroi = quotient (alphai, beta); ComplexColumnVector zero (nfz, Complex ()); for (F77_INT i = 0; i < nfz; i++) zero.xelem (i) = Complex (zeror(i), zeroi(i)); // prepare additional outputs for info struct RowVector infzr (dinfz); RowVector kronrr (nkror); RowVector kronlr (nkrol); for (F77_INT i = 0; i < dinfz; i++) infzr.xelem (i) = infz[i]; for (F77_INT i = 0; i < nkror; i++) kronrr.xelem (i) = kronr[i]; for (F77_INT i = 0; i < nkrol; i++) kronlr.xelem (i) = kronl[i]; // return values retval(0) = zero; retval(1) = octave_value (nrank); retval(2) = infzr; retval(3) = kronrr; retval(4) = kronlr; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb10kd.cc0000644000000000000000000000013213450727360015546 xustar0030 mtime=1554231024.713433366 30 atime=1554231024.713433366 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb10kd.cc0000644000175000017500000001140113450727360016004 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Positive feedback controller for a discrete-time system (D == 0). Uses SLICOT SB10KD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: July 2011 Version: 0.4 */ #include #include "common.h" extern "C" { int F77_FUNC (sb10kd, SB10KD) (F77_INT& N, F77_INT& M, F77_INT& NP, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double& FACTOR, double* AK, F77_INT& LDAK, double* BK, F77_INT& LDBK, double* CK, F77_INT& LDCK, double* DK, F77_INT& LDDK, double* RCOND, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb10kd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb10kd__, args, nargout, "-*- texinfo -*-\n\ Slicot SB10KD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 4) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); double factor = args(3).double_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT np = TO_F77_INT (c.rows ()); // np: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, np); F77_INT ldak = max (1, n); F77_INT ldbk = max (1, n); F77_INT ldck = max (1, m); F77_INT lddk = max (1, m); // arguments out Matrix ak (ldak, n); Matrix bk (ldbk, np); Matrix ck (ldck, n); Matrix dk (lddk, np); ColumnVector rcond (4); // workspace F77_INT liwork = 2 * max (n, np+m); F77_INT ldwork = 15*n*n + 6*n + max (14*n+23, 16*n, 2*n+np+m, 3*(np+m)) + max (n*n, 11*n*np + 2*m*m + 8*np*np + 8*m*n + 4*m*np + np); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, 2*n); // error indicator F77_INT info; // SLICOT routine SB10KD F77_XFCN (sb10kd, SB10KD, (n, m, np, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, factor, ak.fortran_vec (), ldak, bk.fortran_vec (), ldbk, ck.fortran_vec (), ldck, dk.fortran_vec (), lddk, rcond.fortran_vec (), iwork, dwork, ldwork, bwork, info)); if (f77_exception_encountered) error ("ncfsyn: slsb10kd: exception in SLICOT subroutine SB10KD"); static const char* err_msg[] = { "0: OK", "1: the P-Riccati equation is not solved successfully", "2: the Q-Riccati equation is not solved successfully", "3: the X-Riccati equation is not solved successfully", "4: the iteration to compute eigenvalues failed to " "converge", "5: the matrix Rx + Bx'*X*Bx is singular", "6: the closed-loop system is unstable"}; error_msg ("ncfsyn", info, 6, err_msg); // resizing ak.resize (n, n); bk.resize (n, np); ck.resize (m, n); dk.resize (m, np); // return values retval(0) = ak; retval(1) = bk; retval(2) = ck; retval(3) = dk; retval(4) = rcond; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_tg01jd.cc0000644000000000000000000000013213450727360015553 xustar0030 mtime=1554231024.737434282 30 atime=1554231024.737434282 30 ctime=1554231028.525576056 control-3.2.0/src/sl_tg01jd.cc0000644000175000017500000001400113450727360016010 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Minimal realization of descriptor state-space models. Uses SLICOT TG01JD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: September 2010 Version: 0.5 */ #include #include "common.h" extern "C" { int F77_FUNC (tg01jd, TG01JD) (char& JOB, char& SYSTYP, char& EQUIL, F77_INT& N, F77_INT& M, F77_INT& P, double* A, F77_INT& LDA, double* E, F77_INT& LDE, double* B, F77_INT& LDB, double* C, F77_INT& LDC, F77_INT& NR, F77_INT* INFRED, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_tg01jd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_tg01jd__, args, nargout, "-*- texinfo -*-\n\ Slicot TG01JD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 8) { print_usage (); } else { // arguments in char job; char systyp; char equil; Matrix a = args(0).matrix_value (); Matrix e = args(1).matrix_value (); Matrix b = args(2).matrix_value (); Matrix c = args(3).matrix_value (); double tol = args(4).double_value (); const F77_INT scaled = args(5).int_value (); const F77_INT ijob = args(6).int_value (); const F77_INT isystyp = args(7).int_value (); if (scaled == 0) equil = 'S'; else equil = 'N'; switch (ijob) { case 0: job = 'I'; break; case 1: job = 'C'; break; case 2: job = 'O'; break; default: error ("__sl_tg01jd__: argument job invalid"); } switch (isystyp) { case 0: systyp = 'R'; break; case 1: systyp = 'S'; break; case 2: systyp = 'P'; break; default: error ("__sl_tg01jd__: argument systyp invalid"); } F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT lde = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc; if (n == 0) ldc = 1; else ldc = max (1, m, p); a.resize (lda, n); e.resize (lde, n); if (job == 'C') b.resize (ldb, m); else b.resize (ldb, max (m, p)); c.resize (ldc, n); // arguments out F77_INT nr; F77_INT infred[7]; // workspace F77_INT liwork = n + max (m, p); F77_INT ldwork; // F77_INT ldwork = max (n, 2*m, 2*p); // F77_INT ldwork = n * (2*n + m + p) + max (n, 2*m, 2*p); if (equil == 'S') ldwork = max (8*n, 2*m, 2*p); else // if EQUIL = 'N' ldwork = max (n, 2*m, 2*p); // FIXME: larger ldwork should give better results, // but it breaks the test that Slicot provides. /* LDWORK INTEGER The length of the array DWORK. LDWORK >= MAX(8*N,2*M,2*P), if EQUIL = 'S'; LDWORK >= MAX(N,2*M,2*P), if EQUIL = 'N'. If LDWORK >= MAX(2*N*N+N*M+N*P)+MAX(N,2*M,2*P) then more accurate results are to be expected by performing only those reductions phases (see METHOD), where effective order reduction occurs. This is achieved by saving the system matrices before each phase and restoring them if no order reduction took place. */ OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT info = 0; // SLICOT routine TG01JD F77_XFCN (tg01jd, TG01JD, (job, systyp, equil, n, m, p, a.fortran_vec (), lda, e.fortran_vec (), lde, b.fortran_vec (), ldb, c.fortran_vec (), ldc, nr, infred, tol, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("dss: minreal: __sl_tg01jd__: exception in SLICOT subroutine TG01JD"); if (info != 0) error ("dss: minreal: __sl_tg01jd__: TG01JD returned info = %d", info); // resize a.resize (nr, nr); e.resize (nr, nr); b.resize (nr, m); c.resize (p, nr); // return values retval(0) = a; retval(1) = e; retval(2) = b; retval(3) = c; retval(4) = octave_value (nr); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb04qd.cc0000644000000000000000000000013213450727360015557 xustar0030 mtime=1554231024.705433061 30 atime=1554231024.705433061 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb04qd.cc0000644000175000017500000000601113450727360016016 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Solution of discrete-time Sylvester equations. Uses SLICOT SB04QD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: January 2010 Version: 0.3 */ #include #include "common.h" extern "C" { int F77_FUNC (sb04qd, SB04QD) (F77_INT& N, F77_INT& M, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* Z, F77_INT& LDZ, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb04qd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb04qd__, args, nargout, "-*- texinfo -*-\n\ Slicot SB04QD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 3) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); F77_INT n = TO_F77_INT (a.rows ()); F77_INT m = TO_F77_INT (b.rows ()); F77_INT lda = max (1, n); F77_INT ldb = max (1, m); F77_INT ldc = max (1, n); F77_INT ldz = max (1, m); // arguments out Matrix z (ldz, m); // workspace F77_INT ldwork = max (1, 2*n*n + 9*n, 5*m, n + m); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, 4*n); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // SLICOT routine SB04QD F77_XFCN (sb04qd, SB04QD, (n, m, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, z.fortran_vec (), ldz, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("dlyap: __sl_sb04qd__: exception in SLICOT subroutine SB04QD"); if (info != 0) error ("dlyap: __sl_sb04qd__: SB04QD returned info = %d", info); // return values retval(0) = c; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_ib01cd.cc0000644000000000000000000000013213450727360015524 xustar0030 mtime=1554231024.693432602 30 atime=1554231024.693432602 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ib01cd.cc0000644000175000017500000001507513450727360015775 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Compute initial state vector x0 Uses IB01CD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: May 2012 Version: 0.2 */ #include #include #include "common.h" extern "C" { int F77_FUNC (ib01cd, IB01CD) (char& JOBX0, char& COMUSE, char& JOB, F77_INT& N, F77_INT& M, F77_INT& L, F77_INT& NSMP, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* U, F77_INT& LDU, double* Y, F77_INT& LDY, double* X0, double* V, F77_INT& LDV, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ib01cd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ib01cd__, args, nargout, "-*- texinfo -*-\n\ Slicot IB01CD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 7) { print_usage (); } else { // arguments in char jobx0 = 'X'; char comuse = 'U'; char jobbd = 'D'; const Cell y_cell = args(0).cell_value (); const Cell u_cell = args(1).cell_value (); Matrix a = args(2).matrix_value (); Matrix b = args(3).matrix_value (); Matrix c = args(4).matrix_value (); Matrix d = args(5).matrix_value (); double rcond = args(6).double_value (); double tol_c = rcond; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT l = TO_F77_INT (c.rows ()); // l: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, l); F77_INT ldd = max (1, l); // m and l are equal for all experiments, checked by iddata class F77_INT n_exp = TO_F77_INT (y_cell.numel ()); // number of experiments // arguments out Cell x0_cell (n_exp, 1); // cell of initial state vectors x0 // repeat for every experiment in the dataset // compute individual initial state vector x0 for every experiment for (F77_INT i = 0; i < n_exp; i++) { Matrix y = y_cell.elem(i).matrix_value (); Matrix u = u_cell.elem(i).matrix_value (); F77_INT nsmp = TO_F77_INT (y.rows ()); // nsmp: number of samples F77_INT ldv = max (1, n); F77_INT ldu; if (m == 0) ldu = 1; else // m > 0 ldu = nsmp; F77_INT ldy = nsmp; // arguments out ColumnVector x0 (n); Matrix v (ldv, n); // workspace F77_INT liwork_c = n; // if JOBX0 = 'X' and COMUSE <> 'C' F77_INT ldwork_c; F77_INT t = nsmp; F77_INT ldw1_c = 2; F77_INT ldw2_c = t*l*(n + 1) + 2*n + max (2*n*n, 4*n); F77_INT ldw3_c = n*(n + 1) + 2*n + max (n*l*(n + 1) + 2*n*n + l*n, 4*n); ldwork_c = ldw1_c + n*( n + m + l ) + max (5*n, ldw1_c, min (ldw2_c, ldw3_c)); OCTAVE_LOCAL_BUFFER (F77_INT, iwork_c, liwork_c); OCTAVE_LOCAL_BUFFER (double, dwork_c, ldwork_c); // error indicators F77_INT iwarn_c = 0; F77_INT info_c = 0; // SLICOT routine IB01CD F77_XFCN (ib01cd, IB01CD, (jobx0, comuse, jobbd, n, m, l, nsmp, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, u.fortran_vec (), ldu, y.fortran_vec (), ldy, x0.fortran_vec (), v.fortran_vec (), ldv, tol_c, iwork_c, dwork_c, ldwork_c, iwarn_c, info_c)); if (f77_exception_encountered) error ("__sl_ib01cd__: exception in SLICOT subroutine IB01CD"); static const char* err_msg_c[] = { "0: OK", "1: the QR algorithm failed to compute all the " "eigenvalues of the matrix A (see LAPACK Library " "routine DGEES); the locations DWORK(i), for " "i = g+1:g+N*N, contain the partially converged " "Schur form", "2: the singular value decomposition (SVD) algorithm did " "not converge"}; static const char* warn_msg_c[] = { "0: OK", "1: warning message not specified", "2: warning message not specified", "3: warning message not specified", "4: the least squares problem to be solved has a " "rank-deficient coefficient matrix", "5: warning message not specified", "6: the matrix A is unstable; the estimated x(0) " "and/or B and D could be inaccurate"}; error_msg ("__sl_ib01cd__", info_c, 2, err_msg_c); warning_msg ("__sl_ib01cd__", iwarn_c, 6, warn_msg_c); x0_cell.elem(i) = x0; // add x0 from the current experiment to cell of initial state vectors } // return values retval(0) = x0_cell; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_ib01ad.cc0000644000000000000000000000013213450727360015522 xustar0030 mtime=1554231024.693432602 30 atime=1554231024.693432602 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ib01ad.cc0000644000175000017500000003201513450727360015764 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . SLICOT system identification Uses SLICOT IB01AD, IB01BD and IB01CD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: March 2012 Version: 0.2 */ #include #include #include "common.h" extern "C" { int F77_FUNC (ib01ad, IB01AD) (char& METH, char& ALG, char& JOBD, char& BATCH, char& CONCT, char& CTRL, F77_INT& NOBR, F77_INT& M, F77_INT& L, F77_INT& NSMP, double* U, F77_INT& LDU, double* Y, F77_INT& LDY, F77_INT& N, double* R, F77_INT& LDR, double* SV, double& RCOND, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ib01ad__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ib01ad__, args, nargout, "-*- texinfo -*-\n\ Slicot IB01AD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 10) { print_usage (); } else { //////////////////////////////////////////////////////////////////////////////////// // SLICOT IB01AD - preprocess the input-output data // //////////////////////////////////////////////////////////////////////////////////// // arguments in char meth_a; char alg; char jobd; char batch; char conct; char ctrl = 'N'; const Cell y_cell = args(0).cell_value (); const Cell u_cell = args(1).cell_value (); F77_INT nobr = args(2).int_value (); // F77_INT nuser = args(3).int_value (); const F77_INT imeth = args(4).int_value (); const F77_INT ialg = args(5).int_value (); const F77_INT iconct = args(6).int_value (); // const F77_INT ictrl = args(7).int_value (); // ignored double rcond = args(8).double_value (); double tol_a = args(9).double_value (); // double tol_b = rcond; // doublet ol_c = rcond; switch (imeth) { case 0: meth_a = 'M'; break; case 1: meth_a = 'N'; break; case 2: meth_a = 'N'; // no typo here break; default: error ("__sl_ib01ad__: argument 'meth' invalid"); } switch (ialg) { case 0: alg = 'C'; break; case 1: alg = 'F'; break; case 2: alg = 'Q'; break; default: error ("__sl_ib01ad__: argument 'alg' invalid"); } if (meth_a == 'M') jobd = 'M'; else // meth_a == 'N' jobd = 'N'; // IB01AD.f says: This parameter is not relevant for METH = 'N' if (iconct == 0) conct = 'C'; else conct = 'N'; /* if (ictrl == 0) ctrl = 'C'; else ctrl = 'N'; */ // m and l are equal for all experiments, checked by iddata class F77_INT n_exp = TO_F77_INT (y_cell.numel ()); // number of experiments F77_INT m = TO_F77_INT (u_cell.elem(0).columns ()); // m: number of inputs F77_INT l = TO_F77_INT (y_cell.elem(0).columns ()); // l: number of outputs F77_INT nsmpl = 0; // total number of samples // arguments out F77_INT n; F77_INT ldr; if (meth_a == 'M' && jobd == 'M') ldr = max (2*(m+l)*nobr, 3*m*nobr); else if (meth_a == 'N' || (meth_a == 'M' && jobd == 'N')) ldr = 2*(m+l)*nobr; else error ("__sl_ib01ad__: could not handle 'ldr' case"); Matrix r (ldr, 2*(m+l)*nobr); ColumnVector sv (l*nobr); // repeat for every experiment in the dataset for (F77_INT i = 0; i < n_exp; i++) { if (n_exp == 1) batch = 'O'; // one block only else if (i == 0) batch = 'F'; // first block else if (i == n_exp-1) batch = 'L'; // last block else batch = 'I'; // intermediate block Matrix y = y_cell.elem(i).matrix_value (); Matrix u = u_cell.elem(i).matrix_value (); // y.rows == u.rows is checked by iddata class // F77_INT m = TO_F77_INT (u.columns ()); // m: number of inputs // F77_INT l = TO_F77_INT (y.columns ()); // l: number of outputs F77_INT nsmp = TO_F77_INT (y.rows ()); // nsmp: number of samples in the current experiment nsmpl += nsmp; // nsmpl: total number of samples of all experiments // minimal nsmp size checked by __slicot_identification__.m if (batch == 'O') { if (nsmp < 2*(m+l+1)*nobr - 1) error ("__sl_ident__: require NSMP >= 2*(M+L+1)*NOBR - 1"); } else { if (nsmp < 2*nobr) error ("__sl_ident__: require NSMP >= 2*NOBR"); } F77_INT ldu; if (m == 0) ldu = 1; else // m > 0 ldu = nsmp; F77_INT ldy = nsmp; // workspace F77_INT liwork_a; if (meth_a == 'N') // if METH = 'N' liwork_a = (m+l)*nobr; else if (alg == 'F') // if METH = 'M' and ALG = 'F' liwork_a = m+l; else // if METH = 'M' and ALG = 'C' or 'Q' liwork_a = 0; // TODO: Handle 'k' for DWORK F77_INT ldwork_a; F77_INT ns = nsmp - 2*nobr + 1; if (alg == 'C') { if (batch == 'F' || batch == 'I') { if (conct == 'C') ldwork_a = (4*nobr-2)*(m+l); else // (conct == 'N') ldwork_a = 1; } else if (meth_a == 'M') // && (batch == 'L' || batch == 'O') { if (conct == 'C' && batch == 'L') ldwork_a = max ((4*nobr-2)*(m+l), 5*l*nobr); else if (jobd == 'M') ldwork_a = max ((2*m-1)*nobr, (m+l)*nobr, 5*l*nobr); else // (jobd == 'N') ldwork_a = 5*l*nobr; } else // meth_a == 'N' && (batch == 'L' || batch == 'O') { ldwork_a = 5*(m+l)*nobr + 1; } } else if (alg == 'F') { if (batch != 'O' && conct == 'C') ldwork_a = (m+l)*2*nobr*(m+l+3); else if (batch == 'F' || batch == 'I') // && conct == 'N' ldwork_a = (m+l)*2*nobr*(m+l+1); else // (batch == 'L' || '0' && conct == 'N') ldwork_a = (m+l)*4*nobr*(m+l+1)+(m+l)*2*nobr; } else // (alg == 'Q') { // F77_INT ns = nsmp - 2*nobr + 1; if (ldr >= ns && batch == 'F') { ldwork_a = 4*(m+l)*nobr; } else if (ldr >= ns && batch == 'O') { if (meth_a == 'M') ldwork_a = max (4*(m+l)*nobr, 5*l*nobr); else // (meth == 'N') ldwork_a = 5*(m+l)*nobr + 1; } else if (conct == 'C' && (batch == 'I' || batch == 'L')) { ldwork_a = 4*(nobr+1)*(m+l)*nobr; } else // if ALG = 'Q', (BATCH = 'F' or 'O', and LDR < NS), or (BATCH = 'I' or 'L' and CONCT = 'N') { ldwork_a = 6*(m+l)*nobr; } } /* IB01AD.f Lines 438-445 C FURTHER COMMENTS C C For ALG = 'Q', BATCH = 'O' and LDR < NS, or BATCH <> 'O', the C calculations could be rather inefficient if only minimal workspace C (see argument LDWORK) is provided. It is advisable to provide as C much workspace as possible. Almost optimal efficiency can be C obtained for LDWORK = (NS+2)*(2*(M+L)*NOBR), assuming that the C cache size is large enough to accommodate R, U, Y, and DWORK. */ ldwork_a = max (ldwork_a, (ns+2)*(2*(m+l)*nobr)); /* IB01AD.f Lines 291-195: c the workspace used for alg = 'q' is c ldrwrk*2*(m+l)*nobr + 4*(m+l)*nobr, c where ldrwrk = ldwork/(2*(m+l)*nobr) - 2; recommended c value ldrwrk = ns, assuming a large enough cache size. c for good performance, ldwork should be larger. somehow ldrwrk and ldwork must have been mixed up here */ OCTAVE_LOCAL_BUFFER (F77_INT, iwork_a, liwork_a); OCTAVE_LOCAL_BUFFER (double, dwork_a, ldwork_a); // error indicators F77_INT iwarn_a = 0; F77_INT info_a = 0; // SLICOT routine IB01AD F77_XFCN (ib01ad, IB01AD, (meth_a, alg, jobd, batch, conct, ctrl, nobr, m, l, nsmp, u.fortran_vec (), ldu, y.fortran_vec (), ldy, n, r.fortran_vec (), ldr, sv.fortran_vec (), rcond, tol_a, iwork_a, dwork_a, ldwork_a, iwarn_a, info_a)); if (f77_exception_encountered) error ("ident: exception in SLICOT subroutine IB01AD"); static const char* err_msg[] = { "0: OK", "1: a fast algorithm was requested (ALG = 'C', or 'F') " "in sequential data processing, but it failed; the " "routine can be repeatedly called again using the " "standard QR algorithm", "2: the singular value decomposition (SVD) algorithm did " "not converge"}; static const char* warn_msg[] = { "0: OK", "1: the number of 100 cycles in sequential data " "processing has been exhausted without signaling " "that the last block of data was get; the cycle " "counter was reinitialized", "2: a fast algorithm was requested (ALG = 'C' or 'F'), " "but it failed, and the QR algorithm was then used " "(non-sequential data processing)", "3: all singular values were exactly zero, hence N = 0 " "(both input and output were identically zero)", "4: the least squares problems with coefficient matrix " "U_f, used for computing the weighted oblique " "projection (for METH = 'N'), have a rank-deficient " "coefficient matrix", "5: the least squares problem with coefficient matrix " "r_1 [6], used for computing the weighted oblique " "projection (for METH = 'N'), has a rank-deficient " "coefficient matrix"}; error_msg ("ident: IB01AD", info_a, 2, err_msg); warning_msg ("ident: IB01AD", iwarn_a, 5, warn_msg); } // resize F77_INT rs = 2*(m+l)*nobr; r.resize (rs, rs); // return values retval(0) = sv; retval(1) = octave_value (n); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_tb01id.cc0000644000000000000000000000013213450727360015545 xustar0030 mtime=1554231024.729433977 30 atime=1554231024.729433977 30 ctime=1554231028.525576056 control-3.2.0/src/sl_tb01id.cc0000644000175000017500000000610113450727360016004 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Balance state-space model. Uses SLICOT TB01ID by courtesy of NICONET e.V. Author: Lukas Reichlin Created: May 2011 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (tb01id, TB01ID) (char& JOB, F77_INT& N, F77_INT& M, F77_INT& P, double& MAXRED, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* SCALE, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_tb01id__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_tb01id__, args, nargout, "-*- texinfo -*-\n\ Slicot TB01ID Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 4) { print_usage (); } else { // arguments in char job = 'A'; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); double maxred = args(3).double_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); // arguments out ColumnVector scale (n); // error indicators F77_INT info = 0; // SLICOT routine TB01ID F77_XFCN (tb01id, TB01ID, (job, n, m, p, maxred, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, scale.fortran_vec (), info)); if (f77_exception_encountered) error ("ss: prescale: __sl_tb01id__: exception in SLICOT subroutine TB01ID"); if (info != 0) error ("ss: prescale: __sl_tb01id__: TB01ID returned info = %d", info); // return values retval(0) = a; retval(1) = b; retval(2) = c; retval(3) = octave_value (maxred); retval(4) = scale; } return retval; } control-3.2.0/src/PaxHeaders.3947/TB01ZD.fortran0000644000000000000000000000013213450727360015756 xustar0030 mtime=1554231024.625430005 30 atime=1554231024.625430005 30 ctime=1554231028.525576056 control-3.2.0/src/TB01ZD.fortran0000644000175000017500000005174613450727360016234 0ustar00olafolaf00000000000000 SUBROUTINE TB01ZD( JOBZ, N, P, A, LDA, B, C, LDC, NCONT, Z, LDZ, $ TAU, TOL, DWORK, LDWORK, INFO ) C C WARNING C C This file alters the SLICOT routine TB01ZD. It is intended C for use from the Octave Control Systems Package and modifies C the original SLICOT implementation. This file itself is *NOT* C part of SLICOT and the authors from NICONET e.V. are *NOT* C responsible for it. See file DESCRIPTION for the current C maintainer of the Octave control package. C C In altered implementation uses the algorithm described in [A] C to determine the minimum realization of a single-input system. C This implementation uses pivoting between subsequent Householder C reflections to achieve better numerical accuracy (see METHOD section C of the original routine for more information). Note that the original C algorthim will be used if the user asks for the factored form of the C similarity transformations (JOBZ = 'F'). C C [A] A. Hodel, P. Misra, 'Partial Pivoting in the Computation C of Krylov Subspaces of Large Sparse Systems', Proceedings of the C 42nd IEEE Conference on Decision and Control, December 2003. C C SLICOT RELEASE 5.0. C C Copyright (c) 2002-2010 NICONET e.V. C C This program is free software: you can redistribute it and/or C modify it under the terms of the GNU General Public License as C published by the Free Software Foundation, either version 2 of C the License, or (at your option) any later version. C C This program is distributed in the hope that it will be useful, C but WITHOUT ANY WARRANTY; without even the implied warranty of C MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the C GNU General Public License for more details. C C You should have received a copy of the GNU General Public License C along with this program. If not, see C . C C PURPOSE C C To find a controllable realization for the linear time-invariant C single-input system C C dX/dt = A * X + B * U, C Y = C * X, C C where A is an N-by-N matrix, B is an N element vector, C is an C P-by-N matrix, and A and B are reduced by this routine to C orthogonal canonical form using (and optionally accumulating) C orthogonal similarity transformations, which are also applied C to C. C C ARGUMENTS C C Mode Parameters C C JOBZ CHARACTER*1 C Indicates whether the user wishes to accumulate in a C matrix Z the orthogonal similarity transformations for C reducing the system, as follows: C = 'N': Do not form Z and do not store the orthogonal C transformations; C = 'F': Do not form Z, but store the orthogonal C transformations in the factored form; C = 'I': Z is initialized to the unit matrix and the C orthogonal transformation matrix Z is returned. C C Input/Output Parameters C C N (input) INTEGER C The order of the original state-space representation, C i.e. the order of the matrix A. N >= 0. C C P (input) INTEGER C The number of system outputs, or of rows of C. P >= 0. C C A (input/output) DOUBLE PRECISION array, dimension (LDA,N) C On entry, the leading N-by-N part of this array must C contain the original state dynamics matrix A. C On exit, the leading NCONT-by-NCONT upper Hessenberg C part of this array contains the canonical form of the C state dynamics matrix, given by Z' * A * Z, of a C controllable realization for the original system. The C elements below the first subdiagonal are set to zero. C C LDA INTEGER C The leading dimension of array A. LDA >= MAX(1,N). C C B (input/output) DOUBLE PRECISION array, dimension (N) C On entry, the original input/state vector B. C On exit, the leading NCONT elements of this array contain C canonical form of the input/state vector, given by Z' * B, C with all elements but B(1) set to zero. C C C (input/output) DOUBLE PRECISION array, dimension (LDC,N) C On entry, the leading P-by-N part of this array must C contain the output/state matrix C. C On exit, the leading P-by-N part of this array contains C the transformed output/state matrix, given by C * Z, and C the leading P-by-NCONT part contains the output/state C matrix of the controllable realization. C C LDC INTEGER C The leading dimension of array C. LDC >= MAX(1,P). C C NCONT (output) INTEGER C The order of the controllable state-space representation. C C Z (output) DOUBLE PRECISION array, dimension (LDZ,N) C If JOBZ = 'I', then the leading N-by-N part of this array C contains the matrix of accumulated orthogonal similarity C transformations which reduces the given system to C orthogonal canonical form. C If JOBZ = 'F', the elements below the diagonal, with the C array TAU, represent the orthogonal transformation matrix C as a product of elementary reflectors. The transformation C matrix can then be obtained by calling the LAPACK Library C routine DORGQR. C If JOBZ = 'N', the array Z is not referenced and can be C supplied as a dummy array (i.e. set parameter LDZ = 1 and C declare this array to be Z(1,1) in the calling program). C C LDZ INTEGER C The leading dimension of array Z. If JOBZ = 'I' or C JOBZ = 'F', LDZ >= MAX(1,N); if JOBZ = 'N', LDZ >= 1. C C TAU (output) DOUBLE PRECISION array, dimension (N) C The elements of TAU contain the scalar factors of the C elementary reflectors used in the reduction of B and A. C C Tolerances C C TOL DOUBLE PRECISION C The tolerance to be used in determining the C controllability of (A,B). If the user sets TOL > 0, then C the given value of TOL is used as an absolute tolerance; C elements with absolute value less than TOL are considered C neglijible. If the user sets TOL <= 0, then an implicitly C computed, default tolerance, defined by C TOLDEF = N*EPS*MAX( NORM(A), NORM(B) ) is used instead, C where EPS is the machine precision (see LAPACK Library C routine DLAMCH). C C Workspace C C DWORK DOUBLE PRECISION array, dimension (LDWORK) C On exit, if INFO = 0, DWORK(1) returns the optimal value C of LDWORK. C C LDWORK INTEGER C The length of the array DWORK. LDWORK >= MAX(1,N,P). C For optimum performance LDWORK should be larger. C C Error Indicator C C INFO INTEGER C = 0: successful exit; C < 0: if INFO = -i, the i-th argument had an illegal C value. C C METHOD C C The Householder matrix which reduces all but the first element C of vector B to zero is found and this orthogonal similarity C transformation is applied to the matrix A. The resulting A is then C reduced to upper Hessenberg form by a sequence of Householder C transformations. Finally, the order of the controllable state- C space representation (NCONT) is determined by finding the position C of the first sub-diagonal element of A which is below an C appropriate zero threshold, either TOL or TOLDEF (see parameter C TOL); if NORM(B) is smaller than this threshold, NCONT is set to C zero, and no computations for reducing the system to orthogonal C canonical form are performed. C All orthogonal transformations determined in this process are also C applied to the matrix C, from the right. C C REFERENCES C C [1] Konstantinov, M.M., Petkov, P.Hr. and Christov, N.D. C Orthogonal Invariants and Canonical Forms for Linear C Controllable Systems. C Proc. 8th IFAC World Congress, Kyoto, 1, pp. 49-54, 1981. C C [2] Hammarling, S.J. C Notes on the use of orthogonal similarity transformations in C control. C NPL Report DITC 8/82, August 1982. C C [3] Paige, C.C C Properties of numerical algorithms related to computing C controllability. C IEEE Trans. Auto. Contr., AC-26, pp. 130-138, 1981. C C NUMERICAL ASPECTS C 3 C The algorithm requires 0(N ) operations and is backward stable. C C CONTRIBUTOR C C V. Sima, Katholieke Univ. Leuven, Belgium, Feb. 1998. C C REVISIONS C C V. Sima, Research Institute for Informatics, Bucharest, Oct. 2001, C Sept. 2003. C C KEYWORDS C C Controllability, minimal realization, orthogonal canonical form, C orthogonal transformation. C C ****************************************************************** C C .. Parameters .. DOUBLE PRECISION ZERO, ONE PARAMETER ( ZERO = 0.0D0, ONE = 1.0D0 ) C .. Scalar Arguments .. CHARACTER JOBZ INTEGER INFO, LDA, LDC, LDWORK, LDZ, N, NCONT, P DOUBLE PRECISION TOL C .. Array Arguments .. DOUBLE PRECISION A(LDA,*), B(*), C(LDC,*), DWORK(*), TAU(*), $ Z(LDZ,*) C .. Local Scalars .. LOGICAL LJOBF, LJOBI, LJOBZ, LPIV INTEGER ITAU, J, IDXM DOUBLE PRECISION ANORM, B1, BNORM, FANORM, FBNORM, H, THRESH, $ TOLDEF, WRKOPT, MAXV, MINV C .. Local Arrays .. DOUBLE PRECISION NBLK(1) C .. External Functions .. LOGICAL LSAME INTEGER IDAMAX DOUBLE PRECISION DLAMCH, DLANGE EXTERNAL DLAMCH, DLANGE, LSAME, IDAMAX C .. External Subroutines .. EXTERNAL DGEHRD, DLACPY, DLARF, DLARFG, DLASET, DORGQR, $ DORMHR, MB01PD, XERBLA, DSWAP C .. Intrinsic Functions .. INTRINSIC ABS, DBLE, MAX C .. Executable Statements .. C INFO = 0 LJOBF = LSAME( JOBZ, 'F' ) LJOBI = LSAME( JOBZ, 'I' ) LJOBZ = LJOBF.OR.LJOBI C C Test the input scalar arguments. C IF( .NOT.LJOBZ .AND. .NOT.LSAME( JOBZ, 'N' ) ) THEN INFO = -1 ELSE IF( N.LT.0 ) THEN INFO = -2 ELSE IF( P.LT.0 ) THEN INFO = -3 ELSE IF( LDA.LT.MAX( 1, N ) ) THEN INFO = -5 ELSE IF( LDC.LT.MAX( 1, P ) ) THEN INFO = -8 ELSE IF( LDZ.LT.1 .OR. ( LJOBZ .AND. LDZ.LT.N ) ) THEN INFO = -11 ELSE IF( LDWORK.LT.MAX( 1, N, P ) ) THEN INFO = -15 END IF C IF ( INFO.NE.0 ) THEN C C Error return. C CALL XERBLA( 'TB01ZD', -INFO ) RETURN END IF C C Quick return if possible. C NCONT = 0 DWORK(1) = ONE IF ( N.EQ.0 ) $ RETURN C C (Note: Comments in the code beginning "Workspace:" describe the C minimal amount of real workspace needed at that point in the C code, as well as the preferred amount for good performance. C NB refers to the optimal block size for the immediately C following subroutine, as returned by ILAENV.) C WRKOPT = MAX ( 1, N, P ) C C Calculate the absolute norms of A and B (used for scaling). C ANORM = DLANGE( 'Max', N, N, A, LDA, DWORK ) BNORM = DLANGE( 'Max', N, 1, B, N, DWORK ) C C Return if matrix B is zero. C IF( BNORM.EQ.ZERO ) THEN IF( LJOBF ) THEN CALL DLASET( 'Full', N, N, ZERO, ZERO, Z, LDZ ) CALL DLASET( 'Full', N, 1, ZERO, ZERO, TAU, N ) ELSE IF( LJOBI ) THEN CALL DLASET( 'Full', N, N, ZERO, ONE, Z, LDZ ) END IF RETURN END IF C C Scale (if needed) the matrices A and B. C CALL MB01PD( 'S', 'G', N, N, 0, 0, ANORM, 0, NBLK, A, LDA, INFO ) CALL MB01PD( 'S', 'G', N, 1, 0, 0, BNORM, 0, NBLK, B, N, INFO ) C C Calculate the Frobenius norm of A and the 1-norm of B (used for C controlability test). C FANORM = DLANGE( 'Frobenius', N, N, A, LDA, DWORK ) FBNORM = DLANGE( '1-norm', N, 1, B, N, DWORK ) C TOLDEF = TOL IF ( TOLDEF.LE.ZERO ) THEN C C Use the default tolerance in controllability determination. C THRESH = DBLE(N)*DLAMCH( 'EPSILON' ) TOLDEF = THRESH*MAX( FANORM, FBNORM ) END IF C ITAU = 1 CALL DLASET( 'Full', N, 1, ZERO, ZERO, TAU, N ) IF ( FBNORM.GT.TOLDEF ) THEN C C B is not negligible compared with A. C IF ( N.GT.1 ) THEN C C If orthogonal transformations in factored form are not C requested, use pivoting. Exchange rows so biggest norm C element is in the first row. C IF ( .NOT.LJOBF ) THEN IDXM = IDAMAX( N, B, 1 ) LPIV = IDXM.NE.1 C Exchange rows and columns in A and C C IF ( LPIV ) THEN B1 = B(1) B(1) = B(IDXM) B(IDXM) = B1 CALL DSWAP( N, A, LDA, A(IDXM,1), LDA ) CALL DSWAP( N, A, 1, A(1,IDXM), 1 ) CALL DSWAP( P, C, 1, C(1,IDXM), 1 ) END IF END IF C C Transform B by a Householder matrix Z1: store vector C describing this temporarily in B and in the local scalar H. C CALL DLARFG( N, B(1), B(2), 1, H ) C B1 = B(1) B(1) = ONE C C Form Z1 * A * Z1. C Workspace: need N. C CALL DLARF( 'Right', N, N, B, 1, H, A, LDA, DWORK ) CALL DLARF( 'Left', N, N, B, 1, H, A, LDA, DWORK ) C C Form C * Z1. C Workspace: need P. C CALL DLARF( 'Right', P, N, B, 1, H, C, LDC, DWORK ) C C If orthogonal matrix is asked, form it. C Workspace: need N. C IF ( LJOBI ) THEN CALL DLASET( 'Full', N, N, ZERO, ONE, Z, LDZ ) IF ( LPIV ) THEN Z(1,1) = ZERO Z(IDXM,IDXM) = ZERO Z(1,IDXM) = ONE Z(IDXM,1) = ONE END IF CALL DLARF( 'Right', N, N, B, 1, H, Z, LDZ, DWORK ) END IF B(1) = B1 TAU(1) = H ITAU = ITAU + 1 ELSE B1 = B(1) TAU(1) = ZERO END IF C C Reduce modified A to upper Hessenberg form by an orthogonal C similarity transformation. C IF ( TOL.LE.ZERO ) $ TOLDEF = THRESH*MAX( FANORM, ABS( B1 ) ) IF ( LJOBF ) THEN C C If factored form transformation needed, switch to old C algorithm. Workspace: need N; prefer N*NB. C CALL DGEHRD( N, 1, N, A, LDA, TAU(ITAU), DWORK, $ LDWORK, INFO ) WRKOPT = DWORK(1) C C Form C * Z2. C Workspace: need P; prefer P*NB. C CALL DORMHR( 'Right', 'No transpose', P, N, 1, N, A, LDA, $ TAU(ITAU), C, LDC, DWORK, LDWORK, INFO ) WRKOPT = MAX( WRKOPT, DWORK(1) ) C C Save the orthogonal transformations used, so that they could C be accumulated by calling DORGQR routine. C IF ( N.GT.1 ) $ CALL DLACPY( 'Full', N-1, 1, B(2), N-1, Z(2,1), LDZ ) IF ( N.GT.2 ) $ CALL DLACPY( 'Lower', N-2, N-2, A(3,1), LDA, Z(3,2), $ LDZ ) C C Annihilate the lower part of A and B. C IF ( N.GT.2 ) $ CALL DLASET( 'Lower', N-2, N-2, ZERO, ZERO, A(3,1), LDA ) IF ( N.GT.1 ) $ CALL DLASET( 'Full', N-1, 1, ZERO, ZERO, B(2), N-1 ) C C Find NCONT by checking sizes of the sub-diagonal elements of C transformed A. C J = 1 C C WHILE ( J < N and ABS( A(J+1,J) ) > TOLDEF ) DO C 10 CONTINUE IF ( J.LT.N ) THEN IF ( ABS( A(J+1,J) ).GT.TOLDEF ) THEN J = J + 1 GO TO 10 END IF END IF C C END WHILE 10 C C First negligible sub-diagonal element found, if any: set NCONT. C NCONT = J ELSE C C Use pivoting between orthogonal transformations. C J = 1 NCONT = N C C Iterate over matrix subdiagonal elements. C WHILE ( J < N-1 and MAX( ABS( A(J+1,:) ) ) > TOLDEF ) DO C 20 CONTINUE IF ( J.LT.N-1 ) THEN IDXM = IDAMAX( N-J, A(J+1,J), 1 )+J MAXV = ABS( A(IDXM,J) ) LPIV = IDXM.NE.J+1 C C Check if next vector norm is big enough. If not stop. C IF ( MAXV.GT.TOLDEF ) THEN C C Do the swaping C IF ( LPIV ) THEN CALL DSWAP( N+1-J, A(J+1,J), LDA, A(IDXM,J), LDA ) CALL DSWAP( N, A(1,J+1), 1, A(1,IDXM), 1 ) CALL DSWAP( P, C(1,J+1), 1, C(1,IDXM), 1 ) END IF C C Calculate Householder reflection. C CALL DLARFG( N-J, A(J+1,J), A(J+2,J), 1, H ) B1 = A(J+1,J) A(J+1,J) = ONE C C Apply reflection to matrix A. C Workspace: need N. C CALL DLARF( 'Right', N, N-J, A(J+1,J), 1, H, $ A(1,J+1), LDA, DWORK ) CALL DLARF( 'Left', N-J, N-J, A(J+1,J), 1, H, $ A(J+1,J+1), LDA, DWORK ) C C Apply reflection to matrix C. C Workspace: need P. C CALL DLARF( 'Right', P, N-J, A(J+1,J), 1, H, $ C(1,J+1), LDC, DWORK ) C C Form orthogonal transformation matrix Z C Workspace: need N. C IF ( LJOBI ) THEN IF ( LPIV ) $ CALL DSWAP( N, Z(1,J+1), 1, Z(1,IDXM), 1 ) C CALL DLARF( 'Right', N, N-J, A(J+1,J), 1, H, $ Z(1,J+1), LDZ, DWORK ) END IF C A(J+1,J) = B1 TAU(ITAU) = H ITAU = ITAU + 1 J = J + 1 GOTO 20 ELSE NCONT = J END IF END IF C C END WHILE 20 C C Annihilate the lower part of A and B. C IF ( N.GT.2 ) $ CALL DLASET( 'Lower', N-2, NCONT, ZERO, ZERO, $ A(3,1), LDA ) IF ( N.GT.1 ) $ CALL DLASET( 'Full', N-1, 1, ZERO, ZERO, B(2), N-1 ) END IF C C If tolerance is not provided by user, recheck C the subspace dimensions. C IF ( TOL.LE.ZERO ) THEN C C Find the absolute value of the diagonal C of the controllability matrix. C Workspace: need N. C H = ABS( B(1) ) DWORK(1) = H MINV = H J = 2 30 CONTINUE IF ( J.LE.NCONT ) THEN H = H*ABS( A(J,J-1) ) IF ( MINV.GT.H ) $ MINV = H DWORK(J) = MINV J = J + 1 GOTO 30 END IF C C Check if controllability matrix singular. C If yes use tolerance given in "Matrix computation C - Golub & van Loan, 3rd Edition, p. 345". C IF ( MINV.LT.TOLDEF ) THEN TOLDEF = 4.D0*N*TOLDEF J = 1 C C WHILE ( J < NCONT and ABS( A(J+1,J) ) > TOLDEF ) DO C 40 CONTINUE IF ( J.LT.NCONT ) THEN IF ( ABS( A(J+1,J) ).GT.TOLDEF ) THEN J = J + 1 GO TO 40 END IF END IF C C END WHILE 40 C IF ( DWORK(J).GT.TOLDEF ) $ NCONT = J END IF END IF C C Undo scaling of A and B. C CALL MB01PD( 'U', 'H', NCONT, NCONT, 0, 0, ANORM, 0, NBLK, A, $ LDA, INFO ) CALL MB01PD( 'U', 'G', 1, 1, 0, 0, BNORM, 0, NBLK, B, N, INFO ) IF ( NCONT.LT.N ) $ CALL MB01PD( 'U', 'G', N, N-NCONT, 0, 0, ANORM, 0, NBLK, $ A(1,NCONT+1), LDA, INFO ) ELSE C C B is negligible compared with A. No computations for reducing C the system to orthogonal canonical form have been performed, C except scaling (which is undoed). C CALL MB01PD( 'U', 'G', N, N, 0, 0, ANORM, 0, NBLK, A, LDA, $ INFO ) CALL MB01PD( 'U', 'G', N, 1, 0, 0, BNORM, 0, NBLK, B, N, INFO ) IF( LJOBF ) THEN CALL DLASET( 'Full', N, N, ZERO, ZERO, Z, LDZ ) CALL DLASET( 'Full', N, 1, ZERO, ZERO, TAU, N ) ELSE IF( LJOBI ) THEN CALL DLASET( 'Full', N, N, ZERO, ONE, Z, LDZ ) END IF END IF C C Set optimal workspace dimension. C DWORK(1) = WRKOPT C RETURN C *** Last line of TB01ZD *** END control-3.2.0/src/PaxHeaders.3947/configure.ac0000644000000000000000000000013213450727360015743 xustar0030 mtime=1554231024.665431533 30 atime=1554231025.481462519 30 ctime=1554231028.525576056 control-3.2.0/src/configure.ac0000644000175000017500000000413613450727360016210 0ustar00olafolaf00000000000000# -*- Autoconf -*- # Process this file with autoconf to produce a configure script. AC_PREREQ([2.69]) AC_INIT([control], [3.2.0]) AC_CONFIG_SRCDIR([sl_ab01od.cc]) AC_CONFIG_HEADERS([config.h]) # Avoid warnings for redefining AH-generated preprocessor symbols of # Octave. AH_TOP([#include "undef-ah-octave.h"]) AC_CONFIG_MACRO_DIRS([m4]) # Checks for programs. AC_CHECK_PROG(MKOCTFILE, mkoctfile, mkoctfile) if test -z "$MKOCTFILE"; then AC_MSG_ERROR([mkoctfile not found], 1); fi AC_CHECK_PROG(OCTAVE_CONFIG, octave-config, octave-config) if test -z "$OCTAVE_CONFIG"; then AC_MSG_ERROR([octave-config not found], 1); fi AC_PROG_CXX # Start of checks for Octave features, preparations for checks. OCTLIBDIR=${OCTLIBDIR:-`$OCTAVE_CONFIG -p OCTLIBDIR`} ## We need Octaves include path both with and without '/octave' ## appended. The path without '/octave' is needed to selectively test ## for Octave headers, like octave/....h. The path with '/octave' is ## needed since some Octave headers contain include directives for ## other Octave headers with <> instead of "". OCTINCLUDEDIR=${OCTINCLUDEDIR:-`$MKOCTFILE -p INCFLAGS`} AC_LANG_PUSH([C++]) TCXXFLAGS=$CXXFLAGS TLDFLAGS=$LDFLAGS TLIBS=$LIBS TCPPFLAGS=$CPPFLAGS LDFLAGS="-L$OCTLIBDIR $LDFLAGS" LIBS="-loctinterp $LIBS" # CXXFLAGS= CPPFLAGS="$OCTINCLUDEDIR $CPPFLAGS" ## Simple symbol alternatives of different Octave versions. OF_OCTAVE_LIST_ALT_SYMS([ [dnl [is_real_type], [isreal], [[octave_value ().isreal ();]], [OV_ISREAL], [], [] ], [dnl [is_cell], [iscell], [[octave_value ().iscell ();]], [OV_ISCELL], [], [] ], [dnl [is_object], [isobject], [[octave_value ().isobject ();]], [OV_ISOBJECT], [], [] ], [dnl [is_complex_type], [iscomplex], [[octave_value ().iscomplex ();]], [OV_ISCOMPLEX], [], [] ], [dnl [is_numeric_type], [isnumeric], [[octave_value ().isnumeric ();]], [OV_ISNUMERIC], [], [] ] ], [oct-alt-includes.h]) LIBS=$TLIBS LDFLAGS=$TLDFLAGS CXXFLAGS=$TCXXFLAGS CPPFLAGS=$TCPPFLAGS AC_LANG_POP([C++]) # End of checks for Octave features. AC_OUTPUT control-3.2.0/src/PaxHeaders.3947/sl_ab09jd.cc0000644000000000000000000000013213450727360015533 xustar0030 mtime=1554231024.685432297 30 atime=1554231024.681432144 30 ctime=1554231028.525576056 control-3.2.0/src/sl_ab09jd.cc0000644000175000017500000003100213450727360015770 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Model reduction based on Hankel-norm approximation method. Uses SLICOT AB09JD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: July 2011 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (ab09jd, AB09JD) (char& JOBV, char& JOBW, char& JOBINV, char& DICO, char& EQUIL, char& ORDSEL, F77_INT& N, F77_INT& NV, F77_INT& NW, F77_INT& M, F77_INT& P, F77_INT& NR, double& ALPHA, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* AV, F77_INT& LDAV, double* BV, F77_INT& LDBV, double* CV, F77_INT& LDCV, double* DV, F77_INT& LDDV, double* AW, F77_INT& LDAW, double* BW, F77_INT& LDBW, double* CW, F77_INT& LDCW, double* DW, F77_INT& LDDW, F77_INT& NS, double* HSV, double& TOL1, double& TOL2, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_ab09jd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_ab09jd__, args, nargout, "-*- texinfo -*-\n\ Slicot AB09JD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 22) { print_usage (); } else { // arguments in char jobv; char jobw; char jobinv; char dico; char equil; char ordsel; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); const F77_INT idico = args(4).int_value (); const F77_INT iequil = args(5).int_value (); F77_INT nr = args(6).int_value (); const F77_INT iordsel = args(7).int_value (); double alpha = args(8).double_value (); const F77_INT ijobv = args(9).int_value (); Matrix av = args(10).matrix_value (); Matrix bv = args(11).matrix_value (); Matrix cv = args(12).matrix_value (); Matrix dv = args(13).matrix_value (); const F77_INT ijobw = args(14).int_value (); Matrix aw = args(15).matrix_value (); Matrix bw = args(16).matrix_value (); Matrix cw = args(17).matrix_value (); Matrix dw = args(18).matrix_value (); const F77_INT ijobinv = args(19).int_value (); double tol1 = args(20).double_value (); double tol2 = args(21).double_value (); switch (ijobv) { case 0: jobv = 'N'; break; case 1: jobv = 'V'; break; case 2: jobv = 'I'; break; case 3: jobv = 'C'; break; case 4: jobv = 'R'; break; default: error ("__sl_ab09jd__: argument jobv invalid"); } switch (ijobw) { case 0: jobw = 'N'; break; case 1: jobw = 'W'; break; case 2: jobw = 'I'; break; case 3: jobw = 'C'; break; case 4: jobw = 'R'; break; default: error ("__sl_ab09jd__: argument jobw invalid"); } switch (ijobinv) { case 0: jobinv = 'N'; break; case 1: jobinv = 'I'; break; case 2: jobinv = 'A'; break; default: error ("__sl_ab09jd__: argument jobinv invalid"); } if (idico == 0) dico = 'C'; else dico = 'D'; if (iequil == 0) equil = 'S'; else equil = 'N'; if (iordsel == 0) ordsel = 'F'; else ordsel = 'A'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT nv = TO_F77_INT (av.rows ()); F77_INT nw = TO_F77_INT (aw.rows ()); F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); F77_INT ldd = max (1, p); F77_INT ldav = max (1, nv); F77_INT ldbv = max (1, nv); F77_INT ldcv = max (1, p); F77_INT lddv = max (1, p); F77_INT ldaw = max (1, nw); F77_INT ldbw = max (1, nw); F77_INT ldcw = max (1, m); F77_INT lddw = max (1, m); // arguments out F77_INT ns; ColumnVector hsv (n); // workspace F77_INT liwork; F77_INT tmpc; F77_INT tmpd; if (jobv == 'N') tmpc = 0; else tmpc = max (2*p, nv+p+n+6, 2*nv+p+2); if (jobw == 'N') tmpd = 0; else tmpd = max (2*m, nw+m+n+6, 2*nw+m+2); if (dico == 'C') liwork = max (1, m, tmpc, tmpd); else liwork = max (1, n, m, tmpc, tmpd); F77_INT ldwork; F77_INT nvp = nv + p; F77_INT nwm = nw + m; F77_INT ldw1; F77_INT ldw2; F77_INT ldw3 = n*(2*n + max (n, m, p) + 5) + n*(n+1)/2; F77_INT ldw4 = n*(m+p+2) + 2*m*p + min (n, m) + max (3*m+1, min (n, m) + p); if (jobv == 'N') { ldw1 = 0; } else { ldw1 = 2*nvp*(nvp+p) + p*p + max (2*nvp*nvp + max (11*nvp+16, p*nvp), nvp*n + max (nvp*n+n*n, p*n, p*m)); } if (jobw == 'N') { ldw2 = 0; } else { ldw2 = 2*nwm*(nwm+m) + m*m + max (2*nwm*nwm + max (11*nwm+16, m*nwm), nwm*n + max (nwm*n+n*n, m*n, p*m)); } ldwork = max (ldw1, ldw2, ldw3, ldw4); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT iwarn = 0; F77_INT info = 0; // SLICOT routine AB09JD F77_XFCN (ab09jd, AB09JD, (jobv, jobw, jobinv, dico, equil, ordsel, n, nv, nw, m, p, nr, alpha, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, av.fortran_vec (), ldav, bv.fortran_vec (), ldbv, cv.fortran_vec (), ldcv, dv.fortran_vec (), lddv, aw.fortran_vec (), ldaw, bw.fortran_vec (), ldbw, cw.fortran_vec (), ldcw, dw.fortran_vec (), lddw, ns, hsv.fortran_vec (), tol1, tol2, iwork, dwork, ldwork, iwarn, info)); if (f77_exception_encountered) error ("hnamodred: exception in SLICOT subroutine AB09JD"); static const char* err_msg[] = { "0: OK", "1: the computation of the ordered real Schur form of A " "failed", "2: the separation of the ALPHA-stable/unstable " "diagonal blocks failed because of very close eigenvalues", "3: the reduction of AV to a real Schur form failed", "4: the reduction of AW to a real Schur form failed", "5: the reduction to generalized Schur form of the " "descriptor pair corresponding to the inverse of V " "failed", "6: the reduction to generalized Schur form of the " "descriptor pair corresponding to the inverse of W " "failed", "7: the computation of Hankel singular values failed", "8: the computation of stable projection in the " "Hankel-norm approximation algorithm failed", "9: the order of computed stable projection in the " "Hankel-norm approximation algorithm differs " "from the order of Hankel-norm approximation", "10: the reduction of AV-BV*inv(DV)*CV to a " "real Schur form failed", "11: the reduction of AW-BW*inv(DW)*CW to a " "real Schur form failed", "12: the solution of the Sylvester equation failed " "because the poles of V (if JOBV = 'V') or of " "conj(V) (if JOBV = 'C') are not distinct from " "the poles of G1 (see METHOD)", "13: the solution of the Sylvester equation failed " "because the poles of W (if JOBW = 'W') or of " "conj(W) (if JOBW = 'C') are not distinct from " "the poles of G1 (see METHOD)", "14: the solution of the Sylvester equation failed " "because the zeros of V (if JOBV = 'I') or of " "conj(V) (if JOBV = 'R') are not distinct from " "the poles of G1sr (see METHOD)", "15: the solution of the Sylvester equation failed " "because the zeros of W (if JOBW = 'I') or of " "conj(W) (if JOBW = 'R') are not distinct from " "the poles of G1sr (see METHOD)", "16: the solution of the generalized Sylvester system " "failed because the zeros of V (if JOBV = 'I') or " "of conj(V) (if JOBV = 'R') are not distinct from " "the poles of G1sr (see METHOD)", "17: the solution of the generalized Sylvester system " "failed because the zeros of W (if JOBW = 'I') or " "of conj(W) (if JOBW = 'R') are not distinct from " "the poles of G1sr (see METHOD)", "18: op(V) is not antistable", "19: op(W) is not antistable", "20: V is not invertible", "21: W is not invertible"}; static const char* warn_msg[] = { "0: OK", "1: with ORDSEL = 'F', the selected order NR is greater " "than NSMIN, the sum of the order of the " "ALPHA-unstable part and the order of a minimal " "realization of the ALPHA-stable part of the given " "system. In this case, the resulting NR is set equal " "to NSMIN.", "2: with ORDSEL = 'F', the selected order NR is less " "than the order of the ALPHA-unstable part of the " "given system. In this case NR is set equal to the " "order of the ALPHA-unstable part."}; error_msg ("hnamodred", info, 21, err_msg); warning_msg ("hnamodred", iwarn, 2, warn_msg); // resize a.resize (nr, nr); b.resize (nr, m); c.resize (p, nr); hsv.resize (ns); // return values retval(0) = a; retval(1) = b; retval(2) = c; retval(3) = d; retval(4) = octave_value (nr); retval(5) = hsv; retval(6) = octave_value (ns); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb16ad.cc0000644000000000000000000000013213450727360015542 xustar0030 mtime=1554231024.721433672 30 atime=1554231024.721433672 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb16ad.cc0000644000175000017500000002340013450727360016002 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Controller reduction based on Balance & Truncate (B&T) or Singular Perturbation Approximation (SPA) method. Uses SLICOT SB16AD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: November 2011 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (sb16ad, SB16AD) (char& DICO, char& JOBC, char& JOBO, char& JOBMR, char& WEIGHT, char& EQUIL, char& ORDSEL, F77_INT& N, F77_INT& M, F77_INT& P, F77_INT& NC, F77_INT& NCR, double& ALPHA, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* AC, F77_INT& LDAC, double* BC, F77_INT& LDBC, double* CC, F77_INT& LDCC, double* DC, F77_INT& LDDC, F77_INT& NCS, double* HSVC, double& TOL1, double& TOL2, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb16ad__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb16ad__, args, nargout, "-*- texinfo -*-\n\ Slicot SB16AD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 19) { print_usage (); } else { // arguments in char dico; char jobc; char jobo; char jobmr; char weight; char equil; char ordsel; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); const F77_INT idico = args(4).int_value (); const F77_INT iequil = args(5).int_value (); F77_INT ncr = args(6).int_value (); const F77_INT iordsel = args(7).int_value (); double alpha = args(8).double_value (); const F77_INT ijobmr = args(9).int_value (); Matrix ac = args(10).matrix_value (); Matrix bc = args(11).matrix_value (); Matrix cc = args(12).matrix_value (); Matrix dc = args(13).matrix_value (); const F77_INT iweight = args(14).int_value (); const F77_INT ijobc = args(15).int_value (); const F77_INT ijobo = args(16).int_value (); double tol1 = args(17).double_value (); double tol2 = args(18).double_value (); if (idico == 0) dico = 'C'; else dico = 'D'; if (iequil == 0) equil = 'S'; else equil = 'N'; if (iordsel == 0) ordsel = 'F'; else ordsel = 'A'; if (ijobc == 0) jobc = 'S'; else jobc = 'E'; if (ijobo == 0) jobo = 'S'; else jobo = 'E'; switch (ijobmr) { case 0: jobmr = 'B'; break; case 1: jobmr = 'F'; break; case 2: jobmr = 'S'; break; case 3: jobmr = 'P'; break; default: error ("__sl_sb16ad__: argument jobmr invalid"); } switch (iweight) { case 0: weight = 'N'; break; case 1: weight = 'O'; break; case 2: weight = 'I'; break; case 3: weight = 'P'; break; default: error ("__sl_sb16ad__: argument weight invalid"); } F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT nc = TO_F77_INT (ac.rows ()); F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); F77_INT ldd = max (1, p); F77_INT ldac = max (1, nc); F77_INT ldbc = max (1, nc); F77_INT ldcc = max (1, m); F77_INT lddc = max (1, m); // arguments out F77_INT ncs; ColumnVector hsvc (n); // workspace F77_INT liwork; F77_INT liwrk1; F77_INT liwrk2; switch (jobmr) { case 'B': liwrk1 = 0; break; case 'F': liwrk1 = nc; break; default: liwrk1 = 2*nc; } if (weight == 'N') liwrk2 = 0; else liwrk2 = 2*(m+p); liwork = max (1, liwrk1, liwrk2); F77_INT ldwork; F77_INT lfreq; F77_INT lsqred; if (weight == 'N') { if (equil == 'N') // if WEIGHT = 'N' and EQUIL = 'N' lfreq = nc*(max (m, p) + 5); else // if WEIGHT = 'N' and EQUIL = 'S' lfreq = max (n, nc*(max (m, p) + 5)); } else // if WEIGHT = 'I' or 'O' or 'P' { lfreq = (n+nc)*(n+nc+2*m+2*p) + max ((n+nc)*(n+nc+max(n+nc,m,p)+7), (m+p)*(m+p+4)); } lsqred = max (1, 2*nc*nc+5*nc); ldwork = 2*nc*nc + max (1, lfreq, lsqred); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT iwarn = 0; F77_INT info = 0; // SLICOT routine SB16AD F77_XFCN (sb16ad, SB16AD, (dico, jobc, jobo, jobmr, weight, equil, ordsel, n, m, p, nc, ncr, alpha, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, ac.fortran_vec (), ldac, bc.fortran_vec (), ldbc, cc.fortran_vec (), ldcc, dc.fortran_vec (), lddc, ncs, hsvc.fortran_vec (), tol1, tol2, iwork, dwork, ldwork, iwarn, info)); if (f77_exception_encountered) error ("conred: exception in SLICOT subroutine SB16AD"); static const char* err_msg[] = { "0: OK", "1: the closed-loop system is not well-posed; " "its feedthrough matrix is (numerically) singular", "2: the computation of the real Schur form of the " "closed-loop state matrix failed", "3: the closed-loop state matrix is not stable", "4: the solution of a symmetric eigenproblem failed", "5: the computation of the ordered real Schur form " "of Ac failed", "6: the separation of the ALPHA-stable/unstable " "diagonal blocks failed because of very close eigenvalues", "7: the computation of Hankel singular values failed"}; static const char* warn_msg[] = { "0: OK", "1: with ORDSEL = 'F', the selected order NCR is greater " "than NSMIN, the sum of the order of the " "ALPHA-unstable part and the order of a minimal " "realization of the ALPHA-stable part of the given " "controller; in this case, the resulting NCR is set " "equal to NSMIN.", "2: with ORDSEL = 'F', the selected order NCR " "corresponds to repeated singular values for the " "ALPHA-stable part of the controller, which are " "neither all included nor all excluded from the " "reduced model; in this case, the resulting NCR is " "automatically decreased to exclude all repeated " "singular values.", "3: with ORDSEL = 'F', the selected order NCR is less " "than the order of the ALPHA-unstable part of the " "given controller. In this case NCR is set equal to " "the order of the ALPHA-unstable part."}; error_msg ("conred", info, 7, err_msg); warning_msg ("conred", iwarn, 3, warn_msg); // resize ac.resize (ncr, ncr); bc.resize (ncr, p); // p: number of plant outputs cc.resize (m, ncr); // m: number of plant inputs hsvc.resize (ncs); // return values retval(0) = ac; retval(1) = bc; retval(2) = cc; retval(3) = dc; retval(4) = octave_value (ncr); retval(5) = hsvc; retval(6) = octave_value (ncs); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb01bd.cc0000644000000000000000000000013213450727360015535 xustar0030 mtime=1554231024.697432756 30 atime=1554231024.697432756 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb01bd.cc0000644000175000017500000001254713450727360016007 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Pole assignment for a given matrix pair (A,B). Uses SLICOT SB01BD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: November 2009 Version: 0.6 */ #include #include "common.h" extern "C" { int F77_FUNC (sb01bd, SB01BD) (char& DICO, F77_INT& N, F77_INT& M, F77_INT& NP, double& ALPHA, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* WR, double* WI, F77_INT& NFP, F77_INT& NAP, F77_INT& NUP, double* F, F77_INT& LDF, double* Z, F77_INT& LDZ, double& TOL, double* DWORK, F77_INT& LDWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb01bd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb01bd__, args, nargout, "-*- texinfo -*-\n\ Slicot SB01BD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 7) { print_usage (); } else { // arguments in char dico; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); ColumnVector wr = args(2).column_vector_value (); ColumnVector wi = args(3).column_vector_value (); F77_INT discrete = args(4).int_value (); double alpha = args(5).double_value (); double tol = args(6).double_value (); if (discrete == 1) dico = 'D'; else dico = 'C'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT np = TO_F77_INT (wr.rows ()); F77_INT lda = max (1, TO_F77_INT (a.rows ())); F77_INT ldb = max (1, TO_F77_INT (b.rows ())); F77_INT ldf = max (1, m); F77_INT ldz = max (1, n); // arguments out F77_INT nfp; F77_INT nap; F77_INT nup; Matrix f (ldf, n); Matrix z (ldz, n); // workspace F77_INT ldwork = max (1, 5*m, 5*n, 2*n+4*m); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT iwarn; F77_INT info; // SLICOT routine SB01BD F77_XFCN (sb01bd, SB01BD, (dico, n, m, np, alpha, a.fortran_vec (), lda, b.fortran_vec (), ldb, wr.fortran_vec (), wi.fortran_vec (), nfp, nap, nup, f.fortran_vec (), ldf, z.fortran_vec (), ldz, tol, dwork, ldwork, iwarn, info)); if (f77_exception_encountered) error ("place: __sl_sb01bd__: exception in SLICOT subroutine SB01BD"); static const char* err_msg[] = { "0: OK", "1: the reduction of A to a real Schur form failed.", "2: a failure was detected during the ordering of the " "real Schur form of A, or in the iterative process " "for reordering the eigenvalues of Z'*(A + B*F)*Z " "along the diagonal.", "3: the number of eigenvalues to be assigned is less " "than the number of possibly assignable eigenvalues; " "NAP eigenvalues have been properly assigned, " "but some assignable eigenvalues remain unmodified.", "4: an attempt is made to place a complex conjugate " "pair on the location of a real eigenvalue. This " "situation can only appear when N-NFP is odd, " "NP > N-NFP-NUP is even, and for the last real " "eigenvalue to be modified there exists no available " "real eigenvalue to be assigned. However, NAP " "eigenvalues have been already properly assigned."}; static const char* warn_msg[] = { "0: OK", /* 0+%d: %d */ "violations of the numerical stability condition " "NORM(F) <= 100*NORM(A)/NORM(B) occurred during the " "assignment of eigenvalues."}; error_msg ("place", info, 4, err_msg); warning_msg ("place", iwarn, 0, warn_msg, 0); // return values retval(0) = f; retval(1) = octave_value (nfp); retval(2) = octave_value (nap); retval(3) = octave_value (nup); retval(4) = z; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb10jd.cc0000644000000000000000000000013213450727360015545 xustar0030 mtime=1554231024.713433366 30 atime=1554231024.713433366 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb10jd.cc0000644000175000017500000000673713450727360016023 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Convert descriptor state-space system into regular state-space form. Uses SLICOT SB10JD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: September 2011 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (sb10jd, SB10JD) (F77_INT& N, F77_INT& M, F77_INT& NP, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* E, F77_INT& LDE, F77_INT& NSYS, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb10jd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb10jd__, args, nargout, "-*- texinfo -*-\n\ Slicot SB10JD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 5) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); Matrix e = args(4).matrix_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT np = TO_F77_INT (c.rows ()); // np: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, np); F77_INT ldd = max (1, np); F77_INT lde = max (1, n); // arguments out F77_INT nsys; // workspace F77_INT ldwork = max (1, 2*n*n + 2*n + n*max (5, n + m + np)); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // SLICOT routine SB10JD F77_XFCN (sb10jd, SB10JD, (n, m, np, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, e.fortran_vec (), lde, nsys, dwork, ldwork, info)); if (f77_exception_encountered) error ("__sl_sb10jd__: exception in SLICOT subroutine SB10JD"); if (info != 0) error ("__sl_sb10jd__: SB10JD returned info = %d", info); // resize a.resize (nsys, nsys); b.resize (nsys, m); c.resize (np, nsys); // return values retval(0) = a; retval(1) = b; retval(2) = c; retval(3) = d; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_td04ad.cc0000644000000000000000000000013013450727360015540 xustar0029 mtime=1554231024.73343413 29 atime=1554231024.73343413 30 ctime=1554231028.525576056 control-3.2.0/src/sl_td04ad.cc0000644000175000017500000001066613450727360016014 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Minimal state-space representation (A,B,C,D) for a proper transfer matrix T(s) given as either row or column polynomial vectors over denominator polynomials, possibly with uncancelled common terms. Uses SLICOT TD04AD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: August 2011 Version: 0.3 */ #include #include "common.h" extern "C" { int F77_FUNC (td04ad, TD04AD) (char& ROWCOL, F77_INT& M, F77_INT& P, F77_INT* INDEX, double* DCOEFF, F77_INT& LDDCOE, double* UCOEFF, F77_INT& LDUCO1, F77_INT& LDUCO2, F77_INT& NR, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_td04ad__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_td04ad__, args, nargout, "-*- texinfo -*-\n\ Slicot TD04AD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 4) { print_usage (); } else { // arguments in char rowcol = 'R'; NDArray ucoeff = args(0).array_value (); Matrix dcoeff = args(1).matrix_value (); Matrix indexd = args(2).matrix_value (); double tol = args(3).double_value (); F77_INT p = TO_F77_INT (ucoeff.rows ()); // p: number of outputs F77_INT m = TO_F77_INT (ucoeff.columns ()); // m: number of inputs F77_INT lddcoe = max (1, p); // TODO: handle case ucoeff.rows = 0 F77_INT lduco1 = max (1, p); F77_INT lduco2 = max (1, m); F77_INT n = 0; OCTAVE_LOCAL_BUFFER (F77_INT, index, p); for (F77_INT i = 0; i < p; i++) { index[i] = TO_F77_INT (indexd.xelem (i)); n += index[i]; } // arguments out F77_INT nr = max (1, n); // initialize to prevent crash if info != 0 F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, m, p); F77_INT ldd = max (1, p); Matrix a (lda, n); Matrix b (ldb, max (m, p)); Matrix c (ldc, n); Matrix d (ldd, m); // workspace F77_INT ldwork = max (1, n + max (n, 3*m, 3*p)); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, n + max (m, p)); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // SLICOT routine TD04AD F77_XFCN (td04ad, TD04AD, (rowcol, m, p, index, dcoeff.fortran_vec (), lddcoe, ucoeff.fortran_vec (), lduco1, lduco2, nr, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, tol, iwork, dwork, ldwork, info)); if (f77_exception_encountered) error ("tf2ss: __sl_td04ad__: exception in SLICOT subroutine TD04AD"); if (info != 0) error ("tf2ss: __sl_td04ad__: TD04AD returned info = %d", info); // resize a.resize (nr, nr); b.resize (nr, m); c.resize (p, nr); d.resize (p, m); // return values retval(0) = a; retval(1) = b; retval(2) = c; retval(3) = d; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_tg01ad.cc0000644000000000000000000000013013450727360015540 xustar0029 mtime=1554231024.73343413 29 atime=1554231024.73343413 30 ctime=1554231028.525576056 control-3.2.0/src/sl_tg01ad.cc0000644000175000017500000000676013450727360016014 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Balance descriptor state-space model. Uses SLICOT TG01AD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: June 2011 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (tg01ad, TG01AD) (char& JOB, F77_INT& L, F77_INT& N, F77_INT& M, F77_INT& P, double& TRESH, double* A, F77_INT& LDA, double* E, F77_INT& LDE, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* LSCALE, double *RSCALE, double* DWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_tg01ad__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_tg01ad__, args, nargout, "-*- texinfo -*-\n\ Slicot TG01AD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 5) { print_usage (); } else { // arguments in char job = 'A'; Matrix a = args(0).matrix_value (); Matrix e = args(1).matrix_value (); Matrix b = args(2).matrix_value (); Matrix c = args(3).matrix_value (); double tresh = args(4).double_value (); F77_INT l = TO_F77_INT (a.rows ()); F77_INT n = TO_F77_INT (a.columns ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, l); F77_INT lde = max (1, l); F77_INT ldb = max (1, l); F77_INT ldc = max (1, p); // arguments out ColumnVector lscale (l); ColumnVector rscale (n); // workspace OCTAVE_LOCAL_BUFFER (double, dwork, 3*(l+n)); // error indicators F77_INT info = 0; // SLICOT routine TG01AD F77_XFCN (tg01ad, TG01AD, (job, l, n, m, p, tresh, a.fortran_vec (), lda, e.fortran_vec (), lde, b.fortran_vec (), ldb, c.fortran_vec (), ldc, lscale.fortran_vec (), rscale.fortran_vec (), dwork, info)); if (f77_exception_encountered) error ("ss: prescale: __sl_tg01ad__: exception in SLICOT subroutine TG01AD"); if (info != 0) error ("ss: prescale: __sl_tg01ad__: TG01AD returned info = %d", info); // return values retval(0) = a; retval(1) = e; retval(2) = b; retval(3) = c; retval(4) = lscale; retval(5) = rscale; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb03od.cc0000644000000000000000000000013213450727360015554 xustar0030 mtime=1554231024.701432908 30 atime=1554231024.701432908 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb03od.cc0000644000175000017500000000714213450727360016021 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Square-root solver for Lyapunov equations. Uses SLICOT SB03OD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: January 2010 Version: 0.3 */ #include #include "common.h" extern "C" { int F77_FUNC (sb03od, SB03OD) (char& DICO, char& FACT, char& TRANS, F77_INT& N, F77_INT& M, double* A, F77_INT& LDA, double* Q, F77_INT& LDQ, double* B, F77_INT& LDB, double& SCALE, double* WR, double* WI, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb03od__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb03od__, args, nargout, "-*- texinfo -*-\n\ Slicot SB03OD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 3) { print_usage (); } else { // arguments in char dico; char fact = 'N'; char trans = 'N'; // char trans = 'T'; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); F77_INT discrete = args(2).int_value (); if (discrete == 0) dico = 'C'; else dico = 'D'; F77_INT n = TO_F77_INT (a.rows ()); F77_INT m = TO_F77_INT (b.rows ()); // F77_INT m = TO_F77_INT (b.columns ()); F77_INT lda = max (1, n); F77_INT ldq = max (1, n); F77_INT ldb = max (1, n, m); // F77_INT ldb = max (1, n); b.resize (ldb, n); // b.resize (ldb, max (m, n)); // arguments out double scale; Matrix q (ldq, n); ColumnVector wr (n); ColumnVector wi (n); // workspace F77_INT ldwork = max (1, 4*n + min (m, n)); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicator F77_INT info; // SLICOT routine SB03OD F77_XFCN (sb03od, SB03OD, (dico, fact, trans, n, m, a.fortran_vec (), lda, q.fortran_vec (), ldq, b.fortran_vec (), ldb, scale, wr.fortran_vec (), wi.fortran_vec (), dwork, ldwork, info)); if (f77_exception_encountered) error ("lyapchol: __sl_sb03od__: exception in SLICOT subroutine SB03OD"); if (info != 0) error ("lyapchol: __sl_sb03od__: SB03OD returned info = %d", info); // resize b.resize (n, n); // return values retval(0) = b; // b has been overwritten by cholesky factor u retval(1) = octave_value (scale); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_are.cc0000644000000000000000000000013013450727360015227 xustar0029 mtime=1554231024.68943245 29 atime=1554231024.68943245 30 ctime=1554231028.525576056 control-3.2.0/src/sl_are.cc0000644000175000017500000002134513450727360015477 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Solve algebraic Riccati equation. Uses SLICOT SB02RD and SB02MT by courtesy of NICONET e.V. Author: Lukas Reichlin Created: December 2012 Version: 0.2 */ #include #include "common.h" #include extern "C" { int F77_FUNC (sb02mt, SB02MT) (char& JOBG, char& JOBL, char& FACT, char& UPLO, F77_INT& N, F77_INT& M, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* Q, F77_INT& LDQ, double* R, F77_INT& LDR, double* L, F77_INT& LDL, F77_INT* IPIV, F77_INT& OUFACT, double* G, F77_INT& LDG, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& INFO); int F77_FUNC (sb02rd, SB02RD) (char& JOB, char& DICO, char& HINV, char& TRANA, char& UPLO, char& SCAL, char& SORT, char& FACT, char& LYAPUN, F77_INT& N, double* A, F77_INT& LDA, double* T, F77_INT& LDT, double* V, F77_INT& LDV, double* G, F77_INT& LDG, double* Q, F77_INT& LDQ, double* X, F77_INT& LDX, double& SEP, double& RCOND, double& FERR, double* WR, double* WI, double* S, F77_INT& LDS, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_are__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_are__, args, nargout, "-*- texinfo -*-\n\ Slicot SB02RD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 7) { print_usage (); } else { // SB02MT // arguments in char dico; char jobg = 'G'; char jobl; char fact = 'N'; char uplo = 'U'; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix q = args(2).matrix_value (); Matrix r = args(3).matrix_value (); Matrix l = args(4).matrix_value (); F77_INT discrete = args(5).int_value (); F77_INT ijobl = args(6).int_value (); if (discrete == 0) dico = 'C'; else dico = 'D'; if (ijobl == 0) jobl = 'Z'; else jobl = 'N'; F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldq = max (1, n); F77_INT ldr = max (1, m); F77_INT ldl = max (1, n); // arguments out F77_INT ldg = max (1, n); Matrix g (ldg, n); // unused output arguments OCTAVE_LOCAL_BUFFER (F77_INT, ipiv, m); F77_INT oufact; // workspace OCTAVE_LOCAL_BUFFER (F77_INT, iwork_a, m); F77_INT ldwork_a = max (2, 3*m, n*m); OCTAVE_LOCAL_BUFFER (double, dwork_a, ldwork_a); // error indicator F77_INT info; // SLICOT routine SB02MT F77_XFCN (sb02mt, SB02MT, (jobg, jobl, fact, uplo, n, m, a.fortran_vec (), lda, b.fortran_vec (), ldb, q.fortran_vec (), ldq, r.fortran_vec (), ldr, l.fortran_vec (), ldl, ipiv, oufact, g.fortran_vec (), ldg, iwork_a, dwork_a, ldwork_a, info)); if (f77_exception_encountered) error ("are: __sl_are__: exception in SLICOT subroutine SB02MT"); if (info != 0) { if (info < 0) error ("are: sb02mt: the %d-th argument had an illegal value", info); else if (info == m+1) error ("are: sb02mt: the matrix R is numerically singular"); else error ("are: sb02mt: the %d-th element (1 <= %d <= %d) of the d factor is " "exactly zero; the UdU' (or LdL') factorization has " "been completed, but the block diagonal matrix d is " "exactly singular", info, info, m); } // SB02RD // arguments in char job = 'A'; char hinv = 'D'; char trana = 'N'; char scal = 'G'; char sort = 'S'; char lyapun = 'O'; F77_INT ldt = max (1, n); F77_INT ldv = max (1, n); F77_INT ldx = max (1, n); F77_INT lds = max (1, 2*n); // arguments out Matrix x (ldx, n); double sep; double rcond; double ferr; ColumnVector wr (2*n); ColumnVector wi (2*n); // unused output arguments Matrix t (ldt, n); Matrix v (ldv, n); Matrix s (lds, 2*n); // workspace F77_INT liwork_b = max (2*n, n*n); OCTAVE_LOCAL_BUFFER (F77_INT, iwork_b, liwork_b); F77_INT ldwork_b = 5 + max (1, 4*n*n + 8*n); OCTAVE_LOCAL_BUFFER (double, dwork_b, ldwork_b); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork_b, 2*n); // SLICOT routine SB02RD F77_XFCN (sb02rd, SB02RD, (job, dico, hinv, trana, uplo, scal, sort, fact, lyapun, n, a.fortran_vec (), lda, t.fortran_vec (), ldt, v.fortran_vec (), ldv, g.fortran_vec (), ldg, q.fortran_vec (), ldq, x.fortran_vec (), ldx, sep, rcond, ferr, wr.fortran_vec (), wi.fortran_vec (), s.fortran_vec (), lds, iwork_b, dwork_b, ldwork_b, bwork_b, info)); static const char* err_msg[] = { "0: OK", "1: matrix A is (numerically) singular in discrete-" "time case", "2: the Hamiltonian or symplectic matrix H cannot be " "reduced to real Schur form", "3: the real Schur form of the Hamiltonian or " "symplectic matrix H cannot be appropriately ordered", "4: the Hamiltonian or symplectic matrix H has less " "than N stable eigenvalues", "5: if the N-th order system of linear algebraic " "equations, from which the solution matrix X would " "be obtained, is singular to working precision", "6: the QR algorithm failed to complete the reduction " "of the matrix Ac to Schur canonical form, T", "7: if T and -T' have some almost equal eigenvalues, if " "DICO = 'C', or T has almost reciprocal eigenvalues, " "if DICO = 'D'; perturbed values were used to solve " "Lyapunov equations, but the matrix T, if given (for " "FACT = 'F'), is unchanged. (This is a warning " "indicator.)"}; error_msg ("are", info, 7, err_msg); // resize x.resize (n, n); wr.resize (n); wi.resize (n); // assemble complex vector - adapted from DEFUN complex in data.cc ComplexColumnVector pole (n, Complex ()); for (F77_INT i = 0; i < n; i++) pole.xelem (i) = Complex (wr(i), wi(i)); // return value retval(0) = x; retval(1) = pole; retval(2) = octave_value (ferr); retval(3) = octave_value (rcond); retval(4) = octave_value (sep); } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb16cd.cc0000644000000000000000000000013213450727360015544 xustar0030 mtime=1554231024.721433672 30 atime=1554231024.721433672 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb16cd.cc0000644000175000017500000001536713450727360016021 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . TODO Uses SLICOT SB16CD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: November 2011 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (sb16cd, SB16CD) (char& DICO, char& JOBD, char& JOBMR, char& JOBCF, char& ORDSEL, F77_INT& N, F77_INT& M, F77_INT& P, F77_INT& NCR, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double* F, F77_INT& LDF, double* G, F77_INT& LDG, double* HSV, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_INT& IWARN, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb16cd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb16cd__, args, nargout, "-*- texinfo -*-\n\ Slicot SB16CD Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 13) { print_usage (); } else { // arguments in char dico; char jobd; char jobmr; char jobcf; char ordsel; Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); const F77_INT idico = args(4).int_value (); F77_INT ncr = args(5).int_value (); const F77_INT iordsel = args(6).int_value (); const F77_INT ijobd = args(7).int_value (); const F77_INT ijobmr = args(8).int_value (); Matrix f = args(9).matrix_value (); Matrix g = args(10).matrix_value (); const F77_INT ijobcf = args(11).int_value (); double tol = args(12).double_value (); if (idico == 0) dico = 'C'; else dico = 'D'; if (iordsel == 0) ordsel = 'F'; else ordsel = 'A'; if (ijobd == 0) jobd = 'Z'; else jobd = 'D'; if (ijobcf == 0) jobcf = 'L'; else jobcf = 'R'; switch (ijobmr) { case 0: jobmr = 'B'; break; case 1: jobmr = 'F'; break; default: error ("__sl_sb16cd__: argument jobmr invalid"); } F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); F77_INT ldd; if (jobd == 'Z') ldd = 1; else ldd = max (1, p); F77_INT ldf = max (1, m); F77_INT ldg = max (1, n); // arguments out ColumnVector hsv (n); // workspace F77_INT liwork; if (jobmr == 'B') liwork = 0; else // if JOBMR = 'F' liwork = n; F77_INT ldwork; F77_INT mp; if (jobcf == 'L') mp = m; else // if JOBCF = 'R' mp = p; ldwork = 2*n*n + max (1, 2*n*n + 5*n, n*max(m,p), n*(n + max(n,mp) + min(n,mp) + 6)); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT iwarn = 0; F77_INT info = 0; // SLICOT routine SB16CD F77_XFCN (sb16cd, SB16CD, (dico, jobd, jobmr, jobcf, ordsel, n, m, p, ncr, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, f.fortran_vec (), ldf, g.fortran_vec (), ldg, hsv.fortran_vec (), tol, iwork, dwork, ldwork, iwarn, info)); if (f77_exception_encountered) error ("fwcfconred: exception in SLICOT subroutine SB16CD"); static const char* err_msg[] = { "0: OK", "1: eigenvalue computation failure", "2: the matrix A-L*C is not stable", "3: the matrix A-B*F is not stable", "4: the Lyapunov equation for computing the " "observability Grammian is (nearly) singular", "5: the Lyapunov equation for computing the " "controllability Grammian is (nearly) singular", "6: the computation of Hankel singular values failed"}; static const char* warn_msg[] = { "0: OK", "1: with ORDSEL = 'F', the selected order NCR is " "greater than the order of a minimal realization " "of the controller.", "2: with ORDSEL = 'F', the selected order NCR " "corresponds to repeated singular values, which are " "neither all included nor all excluded from the " "reduced controller. In this case, the resulting NCR " "is set automatically to the largest value such that " "HSV(NCR) > HSV(NCR+1)."}; error_msg ("fwcfconred", info, 6, err_msg); warning_msg ("fwcfconred", iwarn, 2, warn_msg); // resize a.resize (ncr, ncr); // Ac g.resize (ncr, p); // Bc f.resize (m, ncr); // Cc // Dc = 0 // return values retval(0) = a; retval(1) = g; retval(2) = f; retval(3) = octave_value (ncr); retval(4) = hsv; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_sb10id.cc0000644000000000000000000000013213450727360015544 xustar0030 mtime=1554231024.713433366 30 atime=1554231024.713433366 30 ctime=1554231028.525576056 control-3.2.0/src/sl_sb10id.cc0000644000175000017500000001161313450727360016007 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Positive feedback controller for a continuous-time system. Uses SLICOT SB10ID by courtesy of NICONET e.V. Author: Lukas Reichlin Created: July 2011 Version: 0.4 */ #include #include "common.h" extern "C" { int F77_FUNC (sb10id, SB10ID) (F77_INT& N, F77_INT& M, F77_INT& NP, double* A, F77_INT& LDA, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* D, F77_INT& LDD, double& FACTOR, F77_INT& NK, double* AK, F77_INT& LDAK, double* BK, F77_INT& LDBK, double* CK, F77_INT& LDCK, double* DK, F77_INT& LDDK, double* RCOND, F77_INT* IWORK, double* DWORK, F77_INT& LDWORK, F77_LOGICAL* BWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_sb10id__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_sb10id__, args, nargout, "-*- texinfo -*-\n\ Slicot SB10ID Release 5.0\n\ No argument checking.\n\ For internal use only.") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 5) { print_usage (); } else { // arguments in Matrix a = args(0).matrix_value (); Matrix b = args(1).matrix_value (); Matrix c = args(2).matrix_value (); Matrix d = args(3).matrix_value (); double factor = args(4).double_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT np = TO_F77_INT (c.rows ()); // np: number of outputs F77_INT lda = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, np); F77_INT ldd = max (1, np); F77_INT ldak = max (1, n); F77_INT ldbk = max (1, n); F77_INT ldck = max (1, m); F77_INT lddk = max (1, m); // arguments out F77_INT nk; Matrix ak (ldak, n); Matrix bk (ldbk, np); Matrix ck (ldck, n); Matrix dk (lddk, np); ColumnVector rcond (2); // workspace F77_INT liwork = max (2*n, n*n, m, np); F77_INT ldwork = 10*n*n + m*m + np*np + 2*m*n + 2*n*np + 4*n + 5 + max (1, 4*n*n + 8*n); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, liwork); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); OCTAVE_LOCAL_BUFFER (F77_LOGICAL, bwork, 2*n); // error indicator F77_INT info; // SLICOT routine SB10ID F77_XFCN (sb10id, SB10ID, (n, m, np, a.fortran_vec (), lda, b.fortran_vec (), ldb, c.fortran_vec (), ldc, d.fortran_vec (), ldd, factor, nk, ak.fortran_vec (), ldak, bk.fortran_vec (), ldbk, ck.fortran_vec (), ldck, dk.fortran_vec (), lddk, rcond.fortran_vec (), iwork, dwork, ldwork, bwork, info)); if (f77_exception_encountered) error ("ncfsyn: __sl_sb10id__: exception in SLICOT subroutine SB10ID"); static const char* err_msg[] = { "0: OK", "1: the X-Riccati equation is not solved successfully", "2: the Z-Riccati equation is not solved successfully", "3: the iteration to compute eigenvalues or singular " "values failed to converge", "4: the matrix Ip - D*Dk is singular", "5: the matrix Im - Dk*D is singular", "6: the closed-loop system is unstable"}; error_msg ("ncfsyn", info, 6, err_msg); // resizing ak.resize (nk, nk); bk.resize (nk, np); ck.resize (m, nk); dk.resize (m, np); // return values retval(0) = ak; retval(1) = bk; retval(2) = ck; retval(3) = dk; retval(4) = rcond; } return retval; } control-3.2.0/src/PaxHeaders.3947/sl_tg01hd.cc0000644000000000000000000000013213450727360015551 xustar0030 mtime=1554231024.737434282 30 atime=1554231024.737434282 30 ctime=1554231028.525576056 control-3.2.0/src/sl_tg01hd.cc0000644000175000017500000001033313450727360016012 0ustar00olafolaf00000000000000/* Copyright (C) 2009-2016 Lukas F. Reichlin This file is part of LTI Syncope. LTI Syncope is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. LTI Syncope is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with LTI Syncope. If not, see . Staircase controllability form for descriptor models. Uses SLICOT TG01HD by courtesy of NICONET e.V. Author: Lukas Reichlin Created: September 2010 Version: 0.2 */ #include #include "common.h" extern "C" { int F77_FUNC (tg01hd, TG01HD) (char& JOBCON, char& COMPQ, char& COMPZ, F77_INT& N, F77_INT& M, F77_INT& P, double* A, F77_INT& LDA, double* E, F77_INT& LDE, double* B, F77_INT& LDB, double* C, F77_INT& LDC, double* Q, F77_INT& LDQ, double* Z, F77_INT& LDZ, F77_INT& NCONT, F77_INT& NIUCON, F77_INT& NRBLCK, F77_INT* RTAU, double& TOL, F77_INT* IWORK, double* DWORK, F77_INT& INFO); } // PKG_ADD: autoload ("__sl_tg01hd__", "__control_slicot_functions__.oct"); DEFUN_DLD (__sl_tg01hd__, args, nargout, "Slicot TG01HD Release 5.0") { octave_idx_type nargin = args.length (); octave_value_list retval; if (nargin != 5) { print_usage (); } else { // arguments in char jobcon = 'C'; char compq = 'I'; char compz = 'I'; Matrix a = args(0).matrix_value (); Matrix e = args(1).matrix_value (); Matrix b = args(2).matrix_value (); Matrix c = args(3).matrix_value (); double tol = args(4).double_value (); F77_INT n = TO_F77_INT (a.rows ()); // n: number of states F77_INT m = TO_F77_INT (b.columns ()); // m: number of inputs F77_INT p = TO_F77_INT (c.rows ()); // p: number of outputs F77_INT lda = max (1, n); F77_INT lde = max (1, n); F77_INT ldb = max (1, n); F77_INT ldc = max (1, p); F77_INT ldq = max (1, n); F77_INT ldz = max (1, n); // arguments out Matrix q (ldq, n); Matrix z (ldz, n); F77_INT ncont; F77_INT niucon; F77_INT nrblck; OCTAVE_LOCAL_BUFFER (F77_INT, rtau, n); // workspace F77_INT ldwork = max (n, 2*m); OCTAVE_LOCAL_BUFFER (F77_INT, iwork, m); OCTAVE_LOCAL_BUFFER (double, dwork, ldwork); // error indicators F77_INT info; // SLICOT routine TG01HD F77_XFCN (tg01hd, TG01HD, (jobcon, compq, compz, n, m, p, a.fortran_vec (), lda, e.fortran_vec (), lde, b.fortran_vec (), ldb, c.fortran_vec (), ldc, q.fortran_vec (), ldq, z.fortran_vec (), ldz, ncont, niucon, nrblck, rtau, tol, iwork, dwork, info)); if (f77_exception_encountered) error ("__sl_tg01hd__: exception in SLICOT subroutine TG01HD"); if (info != 0) error ("__sl_tg01hd__: TG01HD returned info = %d", info); // resize a.resize (n, n); e.resize (n, n); b.resize (n, m); c.resize (p, n); q.resize (n, n); z.resize (n, n); // return values retval(0) = a; retval(1) = e; retval(2) = b; retval(3) = c; retval(4) = q; retval(5) = z; retval(6) = octave_value (ncont); } return retval; } control-3.2.0/PaxHeaders.3947/inst0000644000000000000000000000013213450727360013566 xustar0030 mtime=1554231024.597428938 30 atime=1554231028.525576056 30 ctime=1554231028.525576056 control-3.2.0/inst/0000755000175000017500000000000013450727360014104 5ustar00olafolaf00000000000000control-3.2.0/inst/PaxHeaders.3947/isstabilizable.m0000644000000000000000000000013213450727360017022 xustar0030 mtime=1554231024.529426341 30 atime=1554231024.529426341 30 ctime=1554231028.525576056 control-3.2.0/inst/isstabilizable.m0000644000175000017500000001225513450727360017270 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{bool} =} isstabilizable (@var{sys}) ## @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{sys}, @var{tol}) ## @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}) ## @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{e}) ## @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{[]}, @var{tol}) ## @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{e}, @var{tol}) ## @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{[]}, @var{[]}, @var{dflg}) ## @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{e}, @var{[]}, @var{dflg}) ## @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{[]}, @var{tol}, @var{dflg}) ## @deftypefnx {Function File} {@var{bool} =} isstabilizable (@var{a}, @var{b}, @var{e}, @var{tol}, @var{dflg}) ## Logical check for system stabilizability. ## All unstable modes must be controllable or all uncontrollable states must be stable. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. If @var{sys} is not a state-space system, it is converted to ## a minimal state-space realization, so beware of pole-zero cancellations ## which may lead to wrong results! ## @item a ## State transition matrix. ## @item b ## Input matrix. ## @item e ## Descriptor matrix. ## If @var{e} is empty @code{[]} or not specified, an identity matrix is assumed. ## @item tol ## Optional tolerance for stability. Default value is 0. ## @item dflg = 0 ## Matrices (@var{a}, @var{b}) are part of a continuous-time system. Default Value. ## @item dflg = 1 ## Matrices (@var{a}, @var{b}) are part of a discrete-time system. ## @end table ## ## @strong{Outputs} ## @table @var ## @item bool = 0 ## System is not stabilizable. ## @item bool = 1 ## System is stabilizable. ## @end table ## ## @strong{Algorithm}@* ## Uses SLICOT AB01OD and TG01HD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @example ## @group ## * Calculate staircase form (SLICOT AB01OD) ## * Extract unobservable part of state transition matrix ## * Calculate eigenvalues of unobservable part ## * Check whether ## real (ev) < -tol*(1 + abs (ev)) continuous-time ## abs (ev) < 1 - tol discrete-time ## @end group ## @end example ## @seealso{isdetectable, isstable, isctrb, isobsv} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.5 function bool = isstabilizable (a, b = [], e = [], tol = [], dflg = 0) if (nargin < 1 || nargin > 5) print_usage (); elseif (isa (a, "lti")) # isstabilizable (sys), isstabilizable (sys, tol) if (nargin > 2) print_usage (); endif if (! isa (a, "ss")) warning ("isstabilizable: converting to minimal state-space realization"); endif tol = b; dflg = ! isct (a); [a, b, c, d, e] = dssdata (a, []); elseif (nargin == 1) # isstabilizable (a, b, ...) print_usage (); elseif (! is_real_square_matrix (a) || rows (a) != rows (b)) error ("isstabilizable: a must be square and conformal to b"); elseif (! isempty (e) && (! is_real_square_matrix (e) || ! size_equal (a, e))) error ("isstabilizable: e must be square and conformal to a"); endif if (isempty (tol)) tol = 0; # default tolerance elseif (! is_real_scalar (tol)) error ("isstabilizable: tol must be a real scalar"); endif if (isempty (e)) ## controllability staircase form [ac, ~, ~, ncont] = __sl_ab01od__ (a, b, tol); ## extract uncontrollable part of staircase form uncont_idx = ncont+1 : rows (a); auncont = ac(uncont_idx, uncont_idx); ## calculate poles of uncontrollable part pol = eig (auncont); else ## controllability staircase form - output matrix c has no influence [ac, ec, ~, ~, ~, ~, ncont] = __sl_tg01hd__ (a, e, b, zeros (1, columns (a)), tol); ## extract uncontrollable part of staircase form uncont_idx = ncont+1 : rows (a); auncont = ac(uncont_idx, uncont_idx); euncont = ec(uncont_idx, uncont_idx); ## calculate poles of uncontrollable part pol = eig (auncont, euncont); ## remove infinite poles tolinf = norm ([auncont, euncont], 2); idx = find (abs (pol) < tolinf/eps); pol = pol(idx); endif ## check whether uncontrollable poles are stable bool = __is_stable__ (pol, ! dflg, tol); endfunction control-3.2.0/inst/PaxHeaders.3947/__adjust_ss_data__.m0000644000000000000000000000013213450727360017605 xustar0030 mtime=1554231024.333418858 30 atime=1554231024.333418858 30 ctime=1554231028.525576056 control-3.2.0/inst/__adjust_ss_data__.m0000644000175000017500000000345513450727360020055 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Common code for adjusting SS model data. ## Used by @ss/ss.m, others possibly follow. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.3 function [a, b, c, d, tsam] = __adjust_ss_data__ (a, b, c, d, tsam); if (isempty (a)) # static system a = []; # avoid [](nx0) or [](0xn) tsam = -2; endif if (isempty (d)) if (all (size (c) == 0)) # ss (a, b), ss (a, b, [], [], ...), but allow c(0xn) and d(0xm) c = eye (size (a)); d = zeros (rows (a), columns (b)); else # ss (a, b, c), ss (a, b, c, [], ...) d = zeros (rows (c), columns (b)); endif endif if (isempty (b) && isempty (c)) # sys = ss ([], [], [], d) b = zeros (0, columns (d)); c = zeros (rows (d), 0); tsam = -2; endif if (is_real_scalar (d) && d == 0) # ss (a, b, c, 0) (for matlab compatibility) d = zeros (rows (c), columns (b)); # test d == 0 to avoid ss (0) returning 0x0 model endif endfunction control-3.2.0/inst/PaxHeaders.3947/__opt2cell__.m0000644000000000000000000000013213450727360016341 xustar0030 mtime=1554231024.393421149 30 atime=1554231024.393421149 30 ctime=1554231028.525576056 control-3.2.0/inst/__opt2cell__.m0000644000175000017500000000225613450727360016607 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Convert option struct to a cell with field names as keys and ## field values as values. ## Author: Lukas Reichlin ## Created: November 2011 ## Version: 0.1 function c = __opt2cell__ (opt) if (! isstruct (opt)) error ("opt2cell: argument must be a struct"); endif key = fieldnames (opt); val = struct2cell (opt); c = [key.'; val.'](:).'; # reshape to {key1, val1, key2, val2, ...} endfunction control-3.2.0/inst/PaxHeaders.3947/__adjust_tf_data__.m0000644000000000000000000000013213450727360017571 xustar0030 mtime=1554231024.333418858 30 atime=1554231024.333418858 30 ctime=1554231028.525576056 control-3.2.0/inst/__adjust_tf_data__.m0000644000175000017500000000553413450727360020041 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Common code for adjusting TF model data. ## Used by tf and __set__. ## Author: Lukas Reichlin ## Created: October 2015 ## Version: 0.1 function [num, den, tsam, tfvar] = __adjust_tf_data__ (num, den, tsam = -2) if (isempty (den)) # tf (num, []), where [] could be {} as well if (isempty (num)) # tf ([], []) num = den = {}; tsam = -2; elseif (is_real_matrix (num)) # static gain tf (matrix), tf (matrix, []) num = num2cell (num); den = num2cell (ones (size (num))); tsam = -2; endif endif if (! iscell (num)) num = {num}; endif if (! iscell (den)) den = {den}; endif ## NOTE: the 'tfpoly' constructor checks its vector as well, ## but its error message would make little sense for users ## and would make it hard for them to identify the invalid argument. ## NOTE: this code is nicer, but there would be conflicts in @tf/__set__.m ## e.g. sys = tf ([5, 22], [1, 2]), sys.num = 5 ## ## if (! is_real_vector (num{:}, 1)) # dummy argument 1 needed if num is empty cell ## error ("tf: first argument 'num' requires a real-valued, non-empty vector or a cell of such vectors"); ## endif ## if (! is_real_vector (den{:}, 1)) ## error ("tf: second argument 'den' requires a real-valued, non-empty vector or a cell of such vectors"); ## endif ## ## num = cellfun (@tfpoly, num, "uniformoutput", false); ## den = cellfun (@tfpoly, den, "uniformoutput", false); try num = cellfun (@tfpoly, num, "uniformoutput", false); catch error ("tf: numerator 'num' must be a real-valued, non-empty vector or a cell of such vectors"); end_try_catch try den = cellfun (@tfpoly, den, "uniformoutput", false); catch error ("tf: denominator 'den' must be a real-valued, non-empty vector or a cell of such vectors"); end_try_catch if (any (cellfun (@is_zero, den)(:))) error ("tf: denominator(s) cannot be zero"); endif if (tsam == 0) tfvar = "s"; elseif (tsam == -2) tfvar = "x"; else tfvar = "z"; endif endfunction control-3.2.0/inst/PaxHeaders.3947/__axis_limits__.m0000644000000000000000000000013213450727360017142 xustar0030 mtime=1554231024.333418858 30 atime=1554231024.333418858 30 ctime=1554231028.525576056 control-3.2.0/inst/__axis_limits__.m0000644000175000017500000000426713450727360017414 0ustar00olafolaf00000000000000## Copyright (C) 1998, 2000, 2004, 2005, 2007 ## Auburn University. All rights reserved. ## ## ## This program is free software; you can redistribute it and/or modify it ## under the terms of the GNU General Public License as published by ## the Free Software Foundation; either version 3 of the License, or (at ## your option) any later version. ## ## This program is distributed in the hope that it will be useful, but ## WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU ## General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program; see the file COPYING. If not, see ## . ## -*- texinfo -*- ## @deftypefn {Function File} {} __axis_limits__ (@var{axdata}) ## Determine axis limits for 2-D data (column vectors); leaves a 10% ## margin around the plots. ## Inserts margins of +/- 0.1 if data is one-dimensional ## (or a single point). ## ## @strong{Input} ## @table @var ## @item axdata ## @var{n} by 2 matrix of data [@var{x}, @var{y}]. ## @end table ## ## @strong{Output} ## @table @var ## @item axvec ## Vector of axis limits appropriate for call to @command{axis} function. ## @end table ## @end deftypefn function axvec = __axis_limits__ (axdata) if (nargin < 1 || isempty (axdata)) axdata = 0; endif ## compute axis limits minv = min (axdata); maxv = max (axdata); delv = (maxv-minv)/2; # breadth of the plot midv = (minv + maxv)/2; # midpoint of the plot axmid = [midv(1), midv(1), midv(2), midv(2)]; axdel = [-0.1, 0.1, -0.1, 0.1]; # default plot width (if less than 2-d data) if (max (delv) == 0) if (midv(1) != 0) axdel(1:2) = [-0.1*midv(1), 0.1*midv(1)]; endif if (midv(2) != 0) axdel(3:4) = [-0.1*midv(2), 0.1*midv(2)]; endif else ## they're at least one-dimensional tolv = max(1e-8, 1e-8*abs(midv)); if (abs (delv(1)) >= tolv(1)) axdel(1:2) = 1.1*[-delv(1),delv(1)]; endif if (abs (delv(2)) >= tolv(2)) axdel(3:4) = 1.1*[-delv(2),delv(2)]; endif endif axvec = axmid + axdel; endfunction control-3.2.0/inst/PaxHeaders.3947/@lti0000644000000000000000000000013113450727360014455 xustar0029 mtime=1554231024.23341504 30 atime=1554231028.525576056 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/0000755000175000017500000000000013450727360014774 5ustar00olafolaf00000000000000control-3.2.0/inst/@lti/PaxHeaders.3947/repmat.m0000644000000000000000000000013213450727360016201 xustar0030 mtime=1554231024.213414276 30 atime=1554231024.213414276 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/repmat.m0000644000175000017500000000406713450727360016451 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{rsys} =} repmat (@var{sys}, @var{m}, @var{n}) ## @deftypefnx {Function File} {@var{rsys} =} repmat (@var{sys}, [@var{m}, @var{n}]) ## @deftypefnx {Function File} {@var{rsys} =} repmat (@var{sys}, @var{m}) ## Form a block transfer matrix of @var{sys} with @var{m} copies vertically ## and @var{n} copies horizontally. If @var{n} is not specified, it is set to @var{m}. ## @code{repmat (sys, 2, 3)} is equivalent to @code{[sys, sys, sys; sys, sys, sys]}. ## @end deftypefn ## Author: Lukas Reichlin ## Created: May 2014 ## Version: 0.1 function sys = repmat (sys, x, y) switch (nargin) case 2 if (is_real_scalar (x)) # repmat (sys, m) y = x; elseif (is_real_vector (x) && length (x) == 2) # repmat (sys, [m, n]) y = x(2); x = x(1); else error ("lti: repmat: second argument invalid"); endif case 3 # repmat (sys, m, n) if (! is_real_scalar (x, y)) error ("lti: repmat: dimensions 'm' and 'n' must be real integers"); endif otherwise print_usage (); endswitch [p, m] = size (sys); out_idx = repmat (1:p, 1, x); in_idx = repmat (1:m, 1, y); sys = __sys_prune__ (sys, out_idx, in_idx); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/minus.m0000644000000000000000000000013213450727360016044 xustar0030 mtime=1554231024.201413818 30 atime=1554231024.201413818 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/minus.m0000644000175000017500000000273113450727360016310 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Binary subtraction of @acronym{LTI} objects. If necessary, object conversion ## is done by sys_group. Used by Octave for "sys1 - sys2". ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function sys = minus (sys1, sys2) if (nargin != 2) # prevent sys = minus (sys1, sys2, sys3, ...) error ("lti: minus: this is a binary operator"); endif [p1, m1] = size (sys1); [p2, m2] = size (sys2); if (p1 != p2 || m1 != m2) error ("lti: minus: system dimensions incompatible: (%dx%d) - (%dx%d)", p1, m1, p2, m2); endif sys = __sys_group__ (sys1, sys2); in_scl = [eye(m1); eye(m2)]; out_scl = [eye(p1), -eye(p2)]; sys = out_scl * sys * in_scl; endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/connect.m0000644000000000000000000000013213450727360016342 xustar0030 mtime=1554231024.161412291 30 atime=1554231024.161412291 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/connect.m0000644000175000017500000001527213450727360016612 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} connect (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{inputs}, @var{outputs}) ## @deftypefnx {Function File} {@var{sys} =} connect (@var{sys}, @var{cm}, @var{inputs}, @var{outputs}) ## Name-based or index-based interconnections between the inputs and outputs of @acronym{LTI} models. ## ## @strong{Inputs} ## @table @var ## @item sys1, @dots{}, sysN ## @acronym{LTI} models to be connected. The properties 'inname' and 'outname' ## of each model should be set according to the desired input-output connections. ## @item inputs ## For name-based interconnections, string or cell of strings containing the names ## of the inputs to be kept. The names must be part of the properties 'ingroup' or ## 'inname'. For index-based interconnections, vector containing the indices of the ## inputs to be kept. ## @item outputs ## For name-based interconnections, string or cell of strings containing the names ## of the outputs to be kept. The names must be part of the properties 'outgroup' ## or 'outname'. For index-based interconnections, vector containing the indices of ## the outputs to be kept. ## @item cm ## Connection matrix (not name-based). Each row of the matrix represents a summing ## junction. The first column holds the indices of the inputs to be summed with ## outputs of the subsequent columns. The output indices can be negative, if the output ## is to be substracted, or zero. For example, the row ## @example ## [2 0 3 -4 0] ## @end example ## or ## @example ## [2 -4 3] ## @end example ## will sum input u(2) with outputs y(3) and y(4) as ## @example ## u(2) + y(3) - y(4). ## @end example ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Resulting interconnected system with outputs @var{outputs} and ## inputs @var{inputs}. ## @end table ## ## @seealso{sumblk} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function sys = connect (varargin) if (nargin < 2) print_usage (); endif if (is_real_matrix (varargin{2})) # connect (sys, cm, in_idx, out_idx) if (nargin != 4) print_usage (); endif sys = varargin{1}; cm = varargin{2}; in_idx = varargin{3}; out_idx = varargin{4}; [p, m] = size (sys); [cmrows, cmcols] = size (cm); ## if (! is_real_matrix (cm)) ## error ("connect: second argument must be a matrix with real-valued coefficients"); ## endif M = zeros (m, p); in = cm(:, 1); out = cm(:, 2:cmcols); ## check sizes and integer values if (! isequal (cm, floor (cm))) error ("connect: matrix 'cm' must contain integer values (index-based interconnection)"); endif if ((min (in) <= 0) || (max (in) > m)) error ("connect: 'cm' input index in out of range (index-based interconnection)"); endif if (max (abs (out(:))) > p) error ("connect: 'cm' output index out of range (index-based interconnection)"); endif if ((! is_real_vector (in_idx)) || (! isequal (in_idx, floor (in_idx)))) error ("connect: 'inputs' must be a vector of integer values (index-based interconnection)"); endif if ((max (in_idx) > m) || (min (in_idx) <= 0)) error ("connect: index in vector 'inputs' out of range (index-based interconnection)"); endif if ((! is_real_vector (out_idx)) || (! isequal (out_idx, floor (out_idx)))) error ("connect: 'outputs' must be a vector of integer values (index-based interconnection)"); endif if ((max (out_idx) > p) || (min (out_idx) <= 0)) error ("connect: index in vector 'outputs' out of range (index-based interconnection)"); endif for a = 1 : cmrows out_tmp = out(a, (out(a,:) != 0)); if (! isempty (out_tmp)) M(in(a,1), abs (out_tmp)) = sign (out_tmp); endif endfor sys = __sys_connect__ (sys, M); sys = __sys_prune__ (sys, out_idx, in_idx); else # connect (sys1, sys2, ..., sysN, in_idx, out_idx) lti_idx = cellfun (@isa, varargin, {"lti"}); sys = blkdiag (varargin{lti_idx}); io_idx = ! lti_idx; if (nnz (io_idx) == 2) in_idx = varargin(io_idx){1}; out_idx = varargin(io_idx){2}; else in_idx = ":"; out_idx = ":"; endif inname = sys.inname; if (any (cellfun (@isempty, inname))) error ("connect: all inputs must have names"); endif outname = sys.outname; if (any (cellfun (@isempty , outname))) error ("connect: all outputs must have names"); endif ioname = intersect (inname, outname); tmp = cellfun (@(x) find (strcmp (inname, x)(:)), ioname, "uniformoutput", false); inputs = vertcat (tmp{:}); # there could be more than one input with the same name [p, m] = size (sys); M = zeros (m, p); for k = 1 : length (inputs) outputs = strcmp (outname, inname(inputs(k))); M(inputs(k), :) = outputs; endfor sys = __sys_connect__ (sys, M); ## sys_prune will error out if names in out_idx and in_idx are not unique ## the dark side handles cases with common in_idx names - so do we inname_u = unique (inname); if (numel (inname_u) != numel (inname)) tmp = cellfun (@(u) strcmp (u, inname), inname_u, "uniformoutput", false); mat = double (horzcat (tmp{:})); scl = ss (mat, "inname", inname_u, "outname", inname); sys = sys * scl; if (is_real_vector (in_idx)) warning ("connect: use names instead of indices for argument 'inputs'"); endif endif sys = __sys_prune__ (sys, out_idx, in_idx); if (isa (sys, "ss")) sys = sminreal (sys); endif endif endfunction %!shared T, Texp %! P = Boeing707; %! I = ss (-eye (2)); %! I.inname = P.outname; %! I.outname = P.inname; %! T = connect (P, I, P.inname, P.outname); %! Texp = feedback (P); %!assert (T.a, Texp.a, 1e-4); %!assert (T.b, Texp.b, 1e-4); %!assert (T.c, Texp.c, 1e-4); %!assert (T.d, Texp.d, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/zero.m0000644000000000000000000000013013450727360015666 xustar0029 mtime=1554231024.23341504 29 atime=1554231024.23341504 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/zero.m0000644000175000017500000003562213450727360016141 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## Copyright (C) 2011 Ferdinand Svaricek, UniBw Munich. ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{z} =} zero (@var{sys}) ## @deftypefnx {Function File} {@var{z} =} zero (@var{sys}, @var{type}) ## @deftypefnx {Function File} {[@var{z}, @var{k}, @var{info}] =} zero (@var{sys}) ## Compute zeros and gain of @acronym{LTI} model. ## By default, @command{zero} computes the invariant zeros, ## also known as Smith zeros. Alternatively, when called with ## a second input argument, @command{zero} can also compute ## the system zeros, transmission zeros, input decoupling zeros ## and output decoupling zeros. See paper [1] for an explanation ## of the various zero flavors as well as for further details. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @item type ## String specifying the type of zeros: ## @table @var ## @item 'system', 's' ## Compute the system zeros. ## The system zeros include in all cases ## (square, non-square, degenerate or non-degenerate system) ## all transmission and decoupling zeros. ## @item 'invariant', 'inv' ## Compute invariant zeros. Default selection. ## @item 'transmission', 't' ## Compute transmission zeros. Transmission zeros ## are a subset of the invariant zeros. ## The transmission zeros are the zeros of the ## Smith-McMillan form of the transfer function matrix. ## @item 'input', 'inp', 'id' ## Compute input decoupling zeros. The input decoupling zeros are ## also known as the uncontrollable eigenvalues of the pair (A,B). ## @item 'output', 'o', 'od' ## Compute output decoupling zeros. The output decoupling zeros are ## also known as the unobservable eigenvalues of the pair (A,C). ## @end table ## @end table ## ## @strong{Outputs} ## @table @var ## @item z ## Depending on argument @var{type}, @var{z} contains the ## invariant (default), system, transmission, input decoupling ## or output decoupling zeros of @var{sys} as defined in [1]. ## @item k ## Gain of @acronym{SISO} system @var{sys}. For @acronym{MIMO} ## systems, an empty matrix @code{[]} is returned. ## @item info ## Struct containing additional information. For details, ## see the documentation of @acronym{SLICOT} routines ## @acronym{AB08ND} and @acronym{AG08BD}. ## @item info.rank ## The normal rank of the transfer function matrix (regular state-space models) ## or of the system pencil (descriptor state-space models). ## @item info.infz ## Contains information on the infinite elementary divisors as follows: ## the system has info.infz(i) infinite elementary divisors of degree i, ## where i=1,2,...,length(info.infz). ## @item info.kronr ## Right Kronecker (column) indices. ## @item info.kronl ## Left Kronecker (row) indices. ## @end table ## ## @strong{Examples} ## @example ## @group ## [z, k, info] = zero (sys) # invariant zeros ## z = zero (sys, 'system') # system zeros ## z = zero (sys, 'invariant') # invariant zeros ## z = zero (sys, 'transmission') # transmission zeros ## z = zero (sys, 'output') # output decoupling zeros ## z = zero (sys, 'input') # input decoupling zeros ## @end group ## @end example ## ## @strong{Algorithm}@* ## For (descriptor) state-space models, @command{zero} ## relies on SLICOT AB08ND and AG08BD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## For @acronym{SISO} transfer functions, @command{zero} ## uses Octave's @command{roots}. ## @acronym{MIMO} transfer functions are converted to ## a @emph{minimal} state-space representation for the ## computation of the zeros. ## ## @strong{References}@* ## [1] MacFarlane, A. and Karcanias, N. ## @cite{Poles and zeros of linear multivariable systems: ## a survey of the algebraic, geometric and complex-variable ## theory}. Int. J. Control, vol. 24, pp. 33-74, 1976.@* ## [2] Rosenbrock, H.H. ## @cite{Correction to 'The zeros of a system'}. ## Int. J. Control, vol. 20, no. 3, pp. 525-527, 1974.@* ## [3] Svaricek, F. ## @cite{Computation of the structural invariants of linear ## multivariable systems with an extended version of the ## program ZEROS}. ## Systems & Control Letters, vol. 6, pp. 261-266, 1985.@* ## [4] Emami-Naeini, A. and Van Dooren, P. ## @cite{Computation of zeros of linear multivariable systems}. ## Automatica, vol. 26, pp. 415-430, 1982.@* ## ## @end deftypefn ## TODO: write a short summary about the characteristics of the ## various zero flavors and add it to the docstring. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function [zer, gain, info] = zero (sys, type = "invariant") if (nargin > 2) print_usage (); endif if (strncmpi (type, "invariant", 3)) # invariant zeros, default [zer, gain, info] = __zero__ (sys, nargout); elseif (strncmpi (type, "transmission", 1)) # transmission zeros [zer, gain, info] = zero (minreal (sys)); elseif (strncmpi (type, "input", 3) || strncmpi (type, "id", 2)) # input decoupling zeros [a, b, c, d, e, tsam] = dssdata (sys, []); tmp = dss (a, b, zeros (0, columns (a)), zeros (0, columns (b)), e, tsam); [zer, gain, info] = zero (tmp); elseif (strncmpi (type, "output", 1)) # output decoupling zeros [a, b, c, d, e, tsam] = dssdata (sys, []); tmp = dss (a, zeros (rows (a), 0), c, zeros (rows (c), 0), e, tsam); [zer, gain, info] = zero (tmp); elseif (strncmpi (type, "system", 1)) # system zeros [zer, gain, info] = __szero__ (sys); else error ("zero: type '%s' invalid", type); endif endfunction ## Function for computing the system zeros. ## Adapted from Ferdinand Svaricek's szero.m function [z, gain, info] = __szero__ (sys) ## TODO: support descriptor state-space models ## with singular 'E' matrices [a, b, c, d] = ssdata (sys); [pp, mm] = size (sys); nn = rows (a); ## Tolerance for intersection of zeros Zeps = 10 * sqrt ((nn+pp)*(nn+mm)) * eps * norm (a,'fro'); [z, gain, info] = zero (ss (a, b, c, d)); # zero (sys) lets descriptor test fail Rank = info.rank; ## System is not degenerated and square if (Rank == 0 || (Rank == min(pp,mm) && mm == pp)) return; endif ## System (A,B,C,D) is degenerated and/or non-square z = []; ## Computation of the greatest common divisor of all minors of the ## Rosenbrock system matrix that have the following form ## ## 1, 2, ..., n, n+i_1, n+i_2, ..., n+i_k ## P ## 1, 2, ..., n, n+j_1, n+j_2, ..., n+j_k ## ## with k = Rank. NKP = nchoosek (1:pp, Rank); [IP, JP] = size (NKP); NKM = nchoosek (1:mm, Rank); [IM, JM] = size (NKM); for i = 1:IP for j = 1:JP k = NKP(i,j); C1(j,:) = c(k,:); # Build C of dimension (Rank x n) endfor for ii = 1:IM for jj = 1:JM k = NKM(ii,jj); B1(:,jj) = b(:,k); # Build B of dimension (n x Rank) endfor [z1, ~, info1] = zero (ss (a, B1, C1, zeros (Rank, Rank))); rank1 = info1.rank; if (rank1 == Rank) if (isempty (z1)) z = z1; # Subsystem has no zeros -> system has no system zeros return; else if (isempty (z)) z = z1; # Zeros of the first subsystem else # Compute intersection of z and z1 with tolerance Zeps z2 = []; for ii=1:length(z) for jj=1:length(z1) if (abs (z(ii)-z1(jj)) < Zeps) z2(end+1) = z(ii); z1(jj) = []; break; endif endfor endfor z = z2; # System zeros are the common zeros of all subsystems endif endif endif endfor endfor endfunction ## Invariant zeros of state-space models ## ## Results from the "Dark Side" 7.5 and 7.8 ## ## -13.2759 ## 12.5774 ## -0.0155 ## ## Results from Scilab 5.2.0b1 (trzeros) ## ## - 13.275931 ## 12.577369 ## - 0.0155265 ## %!shared z, z_exp %! A = [ -0.7 -0.0458 -12.2 0 %! 0 -0.014 -0.2904 -0.562 %! 1 -0.0057 -1.4 0 %! 1 0 0 0 ]; %! %! B = [ -19.1 -3.1 %! -0.0119 -0.0096 %! -0.14 -0.72 %! 0 0 ]; %! %! C = [ 0 0 -1 1 %! 0 0 0.733 0 ]; %! %! D = [ 0 0 %! 0.0768 0.1134 ]; %! %! sys = ss (A, B, C, D, "scaled", true); %! z = sort (zero (sys)); %! %! z_exp = sort ([-13.2759; 12.5774; -0.0155]); %! %!assert (z, z_exp, 1e-4); ## Invariant zeros of regular state-space models %!shared z, z_exp, info, rank_exp, infz_exp, kronr_exp, kronl_exp %! A = [ 1.0 0.0 0.0 0.0 0.0 0.0 %! 0.0 1.0 0.0 0.0 0.0 0.0 %! 0.0 0.0 3.0 0.0 0.0 0.0 %! 0.0 0.0 0.0 -4.0 0.0 0.0 %! 0.0 0.0 0.0 0.0 -1.0 0.0 %! 0.0 0.0 0.0 0.0 0.0 3.0 ]; %! %! B = [ 0.0 -1.0 %! -1.0 0.0 %! 1.0 -1.0 %! 0.0 0.0 %! 0.0 1.0 %! -1.0 -1.0 ]; %! %! C = [ 1.0 0.0 0.0 1.0 0.0 0.0 %! 0.0 1.0 0.0 1.0 0.0 1.0 %! 0.0 0.0 1.0 0.0 0.0 1.0 ]; %! %! D = [ 0.0 0.0 %! 0.0 0.0 %! 0.0 0.0 ]; %! %! sys = ss (A, B, C, D, "scaled", true); %! [z, ~, info] = zero (sys); %! %! z_exp = [ 2.0000 %! -1.0000 ]; %! %! rank_exp = 2; %! infz_exp = 2; %! kronr_exp = zeros (1, 0); %! kronl_exp = 2; %! %!assert (z, z_exp, 1e-4); %!assert (info.rank, rank_exp); %!assert (info.infz, infz_exp); %!assert (info.kronr, kronr_exp); %!assert (info.kronl, kronl_exp); ## Invariant zeros of descriptor state-space models %!shared z, z_exp, info, rank_exp, infz_exp, kronr_exp, kronl_exp %! A = [ 1 0 0 0 0 0 0 0 0 %! 0 1 0 0 0 0 0 0 0 %! 0 0 1 0 0 0 0 0 0 %! 0 0 0 1 0 0 0 0 0 %! 0 0 0 0 1 0 0 0 0 %! 0 0 0 0 0 1 0 0 0 %! 0 0 0 0 0 0 1 0 0 %! 0 0 0 0 0 0 0 1 0 %! 0 0 0 0 0 0 0 0 1 ]; %! %! E = [ 0 0 0 0 0 0 0 0 0 %! 1 0 0 0 0 0 0 0 0 %! 0 1 0 0 0 0 0 0 0 %! 0 0 0 0 0 0 0 0 0 %! 0 0 0 1 0 0 0 0 0 %! 0 0 0 0 1 0 0 0 0 %! 0 0 0 0 0 0 0 0 0 %! 0 0 0 0 0 0 1 0 0 %! 0 0 0 0 0 0 0 1 0 ]; %! %! B = [ -1 0 0 %! 0 0 0 %! 0 0 0 %! 0 -1 0 %! 0 0 0 %! 0 0 0 %! 0 0 -1 %! 0 0 0 %! 0 0 0 ]; %! %! C = [ 0 1 1 0 3 4 0 0 2 %! 0 1 0 0 4 0 0 2 0 %! 0 0 1 0 -1 4 0 -2 2 ]; %! %! D = [ 1 2 -2 %! 0 -1 -2 %! 0 0 0 ]; %! %! sys = dss (A, B, C, D, E, "scaled", true); %! [z, ~, info] = zero (sys); %! %! z_exp = 1; %! %! rank_exp = 11; %! infz_exp = [0, 1]; %! kronr_exp = 2; %! kronl_exp = 1; %! %!assert (z, z_exp, 1e-4); %!assert (info.rank, rank_exp); %!assert (info.infz, infz_exp); %!assert (info.kronr, kronr_exp); %!assert (info.kronl, kronl_exp); ## Gain of descriptor state-space models %!shared p, pi, z, zi, k, ki, p_tf, pi_tf, z_tf, zi_tf, k_tf, ki_tf %! P = ss (-2, 3, 4, 5); %! Pi = inv (P); %! %! p = pole (P); %! [z, k] = zero (P); %! %! pi = pole (Pi); %! [zi, ki] = zero (Pi); %! %! P_tf = tf (P); %! Pi_tf = tf (Pi); %! %! p_tf = pole (P_tf); %! [z_tf, k_tf] = zero (P_tf); %! %! pi_tf = pole (Pi_tf); %! [zi_tf, ki_tf] = zero (Pi_tf); %! %!assert (p, zi, 1e-4); %!assert (z, pi, 1e-4); %!assert (k, inv (ki), 1e-4); %!assert (p_tf, zi_tf, 1e-4); %!assert (z_tf, pi_tf, 1e-4); %!assert (k_tf, inv (ki_tf), 1e-4); ## Example taken from Paper [1] ## Regular state-space system %!shared z_inv, z_tra, z_inp, z_out, z_sys, z_inv_e, z_tra_e, z_inp_e, z_out_e, z_sys_e %! A = diag ([1, 1, 3, -4, -1, 3]); %! %! B = [ 0, -1 %! -1, 0 %! 1, -1 %! 0, 0 %! 0, 1 %! -1, -1 ]; %! %! C = [ 1, 0, 0, 1, 0, 0 %! 0, 1, 0, 1, 0, 1 %! 0, 0, 1, 0, 0, 1 ]; %! %! D = zeros (3, 2); %! %! SYS = ss (A, B, C, D); %! %! z_inv = zero (SYS); %! z_tra = zero (SYS, "transmission"); %! z_inp = zero (SYS, "input decoupling"); %! z_out = zero (SYS, "output decoupling"); %! z_sys = zero (SYS, "system"); %! %! z_inv_e = [2; -1]; %! z_tra_e = [2]; %! z_inp_e = [-4]; %! z_out_e = [-1]; %! z_sys_e = [-4, -1, 2]; %! %!assert (z_inv, z_inv_e, 1e-4); %!assert (z_tra, z_tra_e, 1e-4); %!assert (z_inp, z_inp_e, 1e-4); %!assert (z_out, z_out_e, 1e-4); %!assert (z_sys, z_sys_e, 1e-4); ## Example taken from Paper [1] ## Well, this is not exactly a descriptor state-space model, ## but it is the best thing I have right now and it is better ## than no test at all. The routine for the system zeros works ## only for descriptor state-space models with regular 'E' matrices. %!shared z_inv, z_tra, z_inp, z_out, z_sys, z_inv_e, z_tra_e, z_inp_e, z_out_e, z_sys_e %! A = diag ([1, 1, 3, -4, -1, 3]); %! %! B = [ 0, -1 %! -1, 0 %! 1, -1 %! 0, 0 %! 0, 1 %! -1, -1 ]; %! %! C = [ 1, 0, 0, 1, 0, 0 %! 0, 1, 0, 1, 0, 1 %! 0, 0, 1, 0, 0, 1 ]; %! %! D = zeros (3, 2); %! %! E = eye (6); %! %! SYS = dss (A, B, C, D, E); %! %! z_inv = zero (SYS); %! z_tra = zero (SYS, "transmission"); %! z_inp = zero (SYS, "input decoupling"); %! z_out = zero (SYS, "output decoupling"); %! z_sys = zero (SYS, "system"); %! %! z_inv_e = [2; -1]; %! z_tra_e = [2]; %! z_inp_e = [-4]; %! z_out_e = [-1]; %! z_sys_e = [-4, -1, 2]; %! %!assert (z_inv, z_inv_e, 1e-4); %!assert (z_tra, z_tra_e, 1e-4); %!assert (z_inp, z_inp_e, 1e-4); %!assert (z_out, z_out_e, 1e-4); %!assert (z_sys, z_sys_e, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/lti.m0000644000000000000000000000013213450727360015501 xustar0030 mtime=1554231024.197413665 30 atime=1554231024.197413665 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/lti.m0000644000175000017500000000274413450727360015751 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Constructor for LTI objects. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function ltisys = lti (p = 0, m = 0, tsam = -2) if (nargin != 3 || ! is_real_scalar (p, m, tsam)) error ("lti: constructor for 'lti' class, intended for internal use only"); endif inname = repmat ({""}, m, 1); outname = repmat ({""}, p, 1); ltisys = struct ("tsam", tsam, "inname", {inname}, "outname", {outname}, "ingroup", struct (), "outgroup", struct (), "name", "", "notes", {{}}, "userdata", []); ltisys = class (ltisys, "lti"); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/isdt.m0000644000000000000000000000013013450727360015652 xustar0029 mtime=1554231024.18941336 29 atime=1554231024.18941336 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/isdt.m0000644000175000017500000000256413450727360016124 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{bool} =} isdt (@var{sys}) ## Determine whether @acronym{LTI} model is a discrete-time system. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. ## @end table ## ## @strong{Outputs} ## @table @var ## @item bool = 0 ## @var{sys} is a continuous-time system. ## @item bool = 1 ## @var{sys} is a discrete-time system or a static gain. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function bool = isdt (ltisys) if (nargin != 1) print_usage (); endif bool = (ltisys.tsam != 0); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/frdata.m0000644000000000000000000000013213450727360016152 xustar0030 mtime=1554231024.181413055 30 atime=1554231024.181413055 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/frdata.m0000644000175000017500000000426013450727360016415 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{H}, @var{w}, @var{tsam}] =} frdata (@var{sys}) ## @deftypefnx {Function File} {[@var{H}, @var{w}, @var{tsam}] =} frdata (@var{sys}, @var{"vector"}) ## Access frequency response data. ## Argument @var{sys} is not limited to frequency response data objects. ## If @var{sys} is not a frd object, it is converted automatically. ## ## @strong{Inputs} ## @table @var ## @item sys ## Any type of @acronym{LTI} model. ## @item "v", "vector" ## In case @var{sys} is a SISO model, this option returns the frequency response ## as a column vector (lw-by-1) instead of an array (p-by-m-by-lw). ## @end table ## ## @strong{Outputs} ## @table @var ## @item H ## Frequency response array (p-by-m-by-lw). H(i,j,k) contains the ## response from input j to output i at frequency k. In the SISO case, ## a vector (lw-by-1) is possible as well. ## @item w ## Frequency vector (lw-by-1) in radian per second [rad/s]. ## Frequencies are in ascending order. ## @item tsam ## Sampling time in seconds. If @var{sys} is a continuous-time model, ## a zero is returned. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.3 function [H, w, tsam] = frdata (sys, rtype = "array") if (! isa (sys, "frd")) sys = frd (sys); endif [H, w] = __sys_data__ (sys); tsam = sys.tsam; if (strncmpi (rtype, "v", 1) && issiso (sys)) H = reshape (H, [], 1); endif endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/get.m0000644000000000000000000000013213450727360015470 xustar0030 mtime=1554231024.185413207 30 atime=1554231024.185413207 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/get.m0000644000175000017500000000433313450727360015734 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {} get (@var{sys}) ## @deftypefnx {Function File} {@var{value} =} get (@var{sys}, @var{"key"}) ## @deftypefnx {Function File} {[@var{val1}, @var{val2}, @dots{}] =} get (@var{sys}, @var{"key1"}, @var{"key2"}, @dots{}) ## Access key values of @acronym{LTI} objects. ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function varargout = get (sys, varargin) if (nargin == 1) [keys, vals] = __lti_keys__ (sys); nrows = numel (keys); str = strjust (strvcat (keys), "right"); str = horzcat (repmat (" ", nrows, 1), str, repmat (": ", nrows, 1), strvcat (vals)); disp (str); else if (! isa (sys, "lti")) print_usage (); endif keys = __lti_keys__ (sys, true); for k = 1 : (nargin-1) key = __match_key__ (varargin{k}, keys, [class(sys), ": get"]); switch (key) case {"inname", "inputname"} val = sys.inname; case {"outname", "outputname"} val = sys.outname; case {"ingroup", "inputgroup"} val = sys.ingroup; case {"outgroup", "outputgroup"} val = sys.outgroup; case "tsam" val = sys.tsam; case "name" val = sys.name; case "notes" val = sys.notes; case "userdata" val = sys.userdata; otherwise val = __get__ (sys, key); endswitch varargout{k} = val; endfor endif endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/isminimumphase.m0000644000000000000000000000013013450727360017737 xustar0029 mtime=1554231024.18941336 29 atime=1554231024.18941336 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/isminimumphase.m0000644000175000017500000000666713450727360020221 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{bool} =} isminimumphase (@var{sys}) ## @deftypefnx {Function File} {@var{bool} =} isminimumphase (@var{sys}, @var{tol}) ## Determine whether @acronym{LTI} system has asymptotically stable zero dynamics. ## According to the definition of Byrnes/Isidori [1], the zeros ## of a minimum-phase system must be strictly ## inside the left complex half-plane (continuous-time case) ## or inside the unit circle (discrete-time case). ## Note that the poles are not tested. ## ## M. Zeitz [2] discusses the inconsistent definitions of the minimum-phase property ## in a German paper. The abstract in English states the following [2]: ## ## Originally, the minimum phase property has been defined by H. W. Bode [3] ## in order to characterize the unique relationship between gain and phase of ## the frequency response. ## With regard to the design of digital filters, another definition of minimum ## phase is used and a filter is said to be minimum phase if both the filter ## and its inverse are asymptotically stable. ## Finally, systems with asymptotically stable zero dynamics are named as ## minimum phase by C. I. Byrnes and A. Isidori [1]. ## Due to the inconsistent definitions, avoiding the minimum phase property ## for control purposes is advocated and the well-established criteria of ## Hurwitz or Ljapunow to describe the stability of filters and zero dynamics ## are recommended. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. ## @item tol ## Optional tolerance. ## @var{tol} must be a real-valued, non-negative scalar. ## Default value is 0. ## @end table ## ## @strong{Outputs} ## @table @var ## @item bool ## True if the system is minimum-phase and false otherwise. ## @end table ## ## @example ## @group ## real (z) < -tol*(1 + abs (z)) continuous-time ## abs (z) < 1 - tol discrete-time ## @end group ## @end example ## ## @strong{References}@* ## [1] Byrnes, C.I. and Isidori, A. ## @cite{A Frequency Domain Philosophy for Nonlinear Systems}. ## IEEE Conf. Dec. Contr. 23, pp. 1569–1573, 1984. ## ## [2] Zeitz, M. ## @cite{Minimum phase – no relevant property of automatic control!}. ## at – Automatisierungstechnik. Volume 62, Issue 1, pp. 3–10, 2014. ## ## [3] Bode, H.W. ## @cite{Network Analysis and Feedback Amplifier Design}. ## D. Van Nostrand Company, pp. 312-318, 1945. ## pp. 341-351, 1992. ## @end deftypefn ## Author: Lukas Reichlin ## Created: January 2011 ## Version: 0.3 function bool = isminimumphase (sys, tol = 0) if (nargin > 2) print_usage (); endif z = zero (sys); ct = isct (sys); bool = __is_stable__ (z, ct, tol); endfunction %!assert (isminimumphase (tf (1, [1, 0])), true); control-3.2.0/inst/@lti/PaxHeaders.3947/d2c.m0000644000000000000000000000013213450727360015361 xustar0030 mtime=1554231024.165412444 30 atime=1554231024.165412444 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/d2c.m0000644000175000017500000000675413450727360015636 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} d2c (@var{sys}) ## @deftypefnx {Function File} {@var{sys} =} d2c (@var{sys}, @var{method}) ## @deftypefnx {Function File} {@var{sys} =} d2c (@var{sys}, @var{'prewarp'}, @var{w0}) ## Convert the discrete @acronym{LTI} model into its continuous-time equivalent. ## ## @strong{Inputs} ## @table @var ## @item sys ## Discrete-time @acronym{LTI} model. ## @item method ## Optional conversion method. If not specified, default method @var{"zoh"} ## is taken. ## @table @var ## @item 'zoh' ## Zero-order hold or matrix logarithm. ## @item 'tustin', 'bilin' ## Bilinear transformation or Tustin approximation. ## @item 'prewarp' ## Bilinear transformation with pre-warping at frequency @var{w0}. ## @item 'matched' ## Matched pole/zero method. ## @end table ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Continuous-time @acronym{LTI} model. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2011 ## Version: 0.2 function sys = d2c (sys, method = "std", w0 = 0) if (nargin == 0 || nargin > 3) print_usage (); endif if (! isa (sys, "lti")) error ("d2c: first argument is not an LTI model"); endif if (isct (sys)) error ("d2c: system is already continuous-time"); endif if (! ischar (method)) error ("d2c: second argument is not a string"); endif if (! issample (w0, 0)) error ("d2c: third argument is not a valid pre-warping frequency"); endif sys = __d2c__ (sys, sys.tsam, lower (method), w0); sys.tsam = 0; endfunction ## bilinear transformation ## both directions %!shared Mo, Me %! A = [ 1.0 0.5 %! 0.5 1.0 ]; %! %! B = [ 0.0 -1.0 %! 1.0 0.0 ]; %! %! C = [ -1.0 0.0 %! 0.0 1.0 ]; %! %! D = [ 1.0 0.0 %! 0.0 -1.0 ]; %! %! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "tustin"), "tustin")); %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [A, B; C, D]; %! %!assert (Mo, Me, 1e-4); ## zero-order hold ## both directions %!shared Mo, Me %! A = [ 1.0 0.5 %! 0.5 1.0 ]; %! %! B = [ 0.0 -1.0 %! 1.0 0.0 ]; %! %! C = [ -1.0 0.0 %! 0.0 1.0 ]; %! %! D = [ 1.0 0.0 %! 0.0 -1.0 ]; %! %! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "zoh"), "zoh")); %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [A, B; C, D]; %! %!assert (Mo, Me, 1e-4); ## bilinear transformation with pre-warping ## both directions %!shared Mo, Me %! A = [ 1.0 0.5 %! 0.5 1.0 ]; %! %! B = [ 0.0 -1.0 %! 1.0 0.0 ]; %! %! C = [ -1.0 0.0 %! 0.0 1.0 ]; %! %! D = [ 1.0 0.0 %! 0.0 -1.0 ]; %! %! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "prewarp", 1000), "prewarp", 1000)); %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [A, B; C, D]; %! %!assert (Mo, Me, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/subsref.m0000644000000000000000000000013213450727360016362 xustar0030 mtime=1554231024.225414735 30 atime=1554231024.225414735 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/subsref.m0000644000175000017500000000431213450727360016623 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Subscripted reference for @acronym{LTI} objects. ## Used by Octave for "sys = sys(2:4, :)" or "val = sys.prop". ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.5 function a = subsref (a, s) if (numel (s) == 0) return; endif switch (s(1).type) case "()" idx = s(1).subs; switch (numel (idx)) case 2 a = __sys_prune__ (a, idx{1}, idx{2}); case 1 a = freqresp (a, idx{1}); case 0 ## NOTE: for example, Octave returns a = a() for a = rand (2, 2) ## so we do the same for LTI models. ## a = a; # superfluous ## error (["lti: subsref: invalid subscripted reference of type '()'. ", ... ## "need one or two arguments inside the brackets."]); otherwise ## bug #45314 error (["lti: subsref: arrays of linear models are not supported (yet). ", ... "as a workaround, try to use cells of LTI models instead."]); endswitch case "." fld = s(1).subs; a = get (a, fld); ## warning ("lti: subsref: do not use subsref for development"); otherwise error ("lti: subsref: invalid subscript type '%s'", s(1).type); endswitch a = subsref (a, s(2:end)); endfunction ## lti: subsref %!shared a %! s = tf ("s"); %! G = (s+1)*s*5/(s+1)/(s^2+s+1); %! a = G(1,1).num{1,1}(1); %!assert (a, 5, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/norm.m0000644000000000000000000000013213450727360015664 xustar0030 mtime=1554231024.205413971 30 atime=1554231024.205413971 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/norm.m0000644000175000017500000000710713450727360016132 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{gain} =} norm (@var{sys}, @var{2}) ## @deftypefnx {Function File} {[@var{gain}, @var{wpeak}] =} norm (@var{sys}, @var{inf}) ## @deftypefnx {Function File} {[@var{gain}, @var{wpeak}] =} norm (@var{sys}, @var{inf}, @var{tol}) ## Return H-2 or L-inf norm of @acronym{LTI} model. ## ## @strong{Algorithm}@* ## Uses SLICOT AB13BD and AB13DD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 0.5 function [gain, varargout] = norm (sys, ntype = "2", tol = 0.01) if (nargin > 3) # norm () is caught by built-in function print_usage (); endif if (is_real_scalar (ntype) && ! isinf (ntype)) if (ntype == 2) ntype = "2"; else error ("lti: norm: invalid norm type"); endif elseif (ischar (ntype)) ntype = lower (ntype); elseif ((numel (ntype) == 1) && isnumeric (ntype) && isinf (ntype)) ntype = "inf"; else error ("lti: norm: invalid norm type"); endif switch (ntype) case "2" gain = h2norm (sys); case "inf" [gain, varargout{1}] = linfnorm (sys, tol); otherwise error ("lti: norm: invalid norm type"); endswitch endfunction function gain = h2norm (sys) if (isstable (sys)) [a, b, c, d] = ssdata (sys); discrete = ! isct (sys); if (! discrete && any (d(:))) # continuous and non-zero feedthrough gain = inf; else gain = __sl_ab13bd__ (a, b, c, d, discrete); endif else gain = inf; endif endfunction function [gain, wpeak] = linfnorm (sys, tol = 0.01) [a, b, c, d, e, tsam, scaled] = dssdata (sys, []); discrete = ! isct (sys); tol = max (tol, 100*eps); if (isempty (e)) [fpeak, gpeak] = __sl_ab13dd__ (a, a, b, c, d, discrete, false, tol, scaled); # TODO: avoid dummy argument else if (rcond (e) < eps) gain = inf; wpeak = inf; return; else [fpeak, gpeak] = __sl_ab13dd__ (a, e, b, c, d, discrete, true, tol, scaled); endif endif if (fpeak(2) > 0) if (discrete) wpeak = fpeak(1) / abs (tsam); # tsam could be -1 else wpeak = fpeak(1); endif else wpeak = inf; endif if (gpeak(2) > 0) gain = gpeak(1); else gain = inf; endif endfunction ## norm ct %!shared H2, Hinf %! sys = ss (-1, 1, 1, 0); %! H2 = norm (sys, 2); %! Hinf = norm (sys, inf); %!assert (H2, 0.7071, 1.5e-5); %!assert (Hinf, 1, 5e-4); ## norm dt %!shared H2, Hinf %! a = [ 2.417 -1.002 0.5488 %! 2 0 0 %! 0 0.5 0 ]; %! b = [ 1 %! 0 %! 0 ]; %! c = [-0.424 0.436 -0.4552 ]; %! d = [ 1 ]; %! sys = ss (a, b, c, d, 0.1); %! H2 = norm (sys, 2); %! Hinf = norm (sys, inf); %!assert (H2, 1.2527, 1.5e-5); %!assert (Hinf, 2.7, 0.1); control-3.2.0/inst/@lti/PaxHeaders.3947/c2d.m0000644000000000000000000000013213450727360015361 xustar0030 mtime=1554231024.161412291 30 atime=1554231024.161412291 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/c2d.m0000644000175000017500000001367013450727360015631 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} c2d (@var{sys}, @var{tsam}) ## @deftypefnx {Function File} {@var{sys} =} c2d (@var{sys}, @var{tsam}, @var{method}) ## @deftypefnx {Function File} {@var{sys} =} c2d (@var{sys}, @var{tsam}, @var{'prewarp'}, @var{w0}) ## Convert the continuous @acronym{LTI} model into its discrete-time equivalent. ## ## @strong{Inputs} ## @table @var ## @item sys ## Continuous-time @acronym{LTI} model. ## @item tsam ## Sampling time in seconds. ## @item method ## Optional conversion method. If not specified, default method @var{"zoh"} ## is taken. ## @table @var ## @item 'impulse' ## Impulse Invarient transformation. ## @item 'zoh' ## Zero-order hold or matrix exponential. ## @item 'tustin', 'bilin' ## Bilinear transformation or Tustin approximation. ## @item 'prewarp' ## Bilinear transformation with pre-warping at frequency @var{w0}. ## @item 'matched' ## Matched pole/zero method. ## @end table ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Discrete-time @acronym{LTI} model. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function sys = c2d (sys, tsam, method = "std", w0 = 0) if (nargin < 2 || nargin > 4) print_usage (); endif if (! isa (sys, "lti")) error ("c2d: first argument is not an LTI model"); endif if (isdt (sys)) error ("c2d: system is already discrete-time"); endif if (! issample (tsam)) error ("c2d: second argument is not a valid sample time"); endif if (! ischar (method)) error ("c2d: third argument is not a string"); endif if (! issample (w0, 0)) error ("c2d: fourth argument is not a valid pre-warping frequency"); endif sys = __c2d__ (sys, tsam, lower (method), w0); sys.tsam = tsam; endfunction ## bilinear transformation ## using oct-file directly %!shared Mo, Me %! A = [ 1.0 0.5 %! 0.5 1.0 ].'; %! %! B = [ 0.0 -1.0 %! 1.0 0.0 ].'; %! %! C = [ -1.0 0.0 %! 0.0 1.0 ].'; %! %! D = [ 1.0 0.0 %! 0.0 -1.0 ].'; %! %! [Ao, Bo, Co, Do] = __sl_ab04md__ (A, B, C, D, 1.0, 1.0, false); %! %! Ae = [ -1.0000 -4.0000 %! -4.0000 -1.0000 ]; %! %! Be = [ 2.8284 0.0000 %! 0.0000 -2.8284 ]; %! %! Ce = [ 0.0000 2.8284 %! -2.8284 0.0000 ]; %! %! De = [ -1.0000 0.0000 %! 0.0000 -3.0000 ]; %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [Ae, Be; Ce, De]; %! %!assert (Mo, Me, 1e-4); ## bilinear transformation ## user function %!shared Mo, Me %! A = [ 1.0 0.5 %! 0.5 1.0 ].'; %! %! B = [ 0.0 -1.0 %! 1.0 0.0 ].'; %! %! C = [ -1.0 0.0 %! 0.0 1.0 ].'; %! %! D = [ 1.0 0.0 %! 0.0 -1.0 ].'; %! %! [Ao, Bo, Co, Do] = ssdata (c2d (ss (A, B, C, D), 2, "tustin")); %! %! Ae = [ -1.0000 -4.0000 %! -4.0000 -1.0000 ]; %! %! Be = [ 2.8284 0.0000 %! 0.0000 -2.8284 ]; %! %! Ce = [ 0.0000 2.8284 %! -2.8284 0.0000 ]; %! %! De = [ -1.0000 0.0000 %! 0.0000 -3.0000 ]; %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [Ae, Be; Ce, De]; %! %!assert (Mo, Me, 1e-4); ## bilinear transformation ## both directions %!shared Mo, Me %! A = [ 1.0 0.5 %! 0.5 1.0 ]; %! %! B = [ 0.0 -1.0 %! 1.0 0.0 ]; %! %! C = [ -1.0 0.0 %! 0.0 1.0 ]; %! %! D = [ 1.0 0.0 %! 0.0 -1.0 ]; %! %! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "tustin"), "tustin")); %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [A, B; C, D]; %! %!assert (Mo, Me, 1e-4); ## zero-order hold ## both directions %!shared Mo, Me %! A = [ 1.0 0.5 %! 0.5 1.0 ]; %! %! B = [ 0.0 -1.0 %! 1.0 0.0 ]; %! %! C = [ -1.0 0.0 %! 0.0 1.0 ]; %! %! D = [ 1.0 0.0 %! 0.0 -1.0 ]; %! %! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "zoh"), "zoh")); %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [A, B; C, D]; %! %!assert (Mo, Me, 1e-4); ## bilinear transformation with pre-warping ## both directions %!shared Mo, Me %! A = [ 1.0 0.5 %! 0.5 1.0 ]; %! %! B = [ 0.0 -1.0 %! 1.0 0.0 ]; %! %! C = [ -1.0 0.0 %! 0.0 1.0 ]; %! %! D = [ 1.0 0.0 %! 0.0 -1.0 ]; %! %! [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "prewarp", 1000), "prewarp", 1000)); %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [A, B; C, D]; %! %!assert (Mo, Me, 1e-4); ## matrix exponential %!shared Aex, Aexint, Aex_exp, Aexint_exp %! A = [ 5.0 4.0 3.0 2.0 1.0 %! 1.0 6.0 0.0 4.0 3.0 %! 2.0 0.0 7.0 6.0 5.0 %! 1.0 3.0 1.0 8.0 7.0 %! 2.0 5.0 7.0 1.0 9.0 ]; %! %! Aex_exp = [ 1.8391 0.9476 0.7920 0.8216 0.7811 %! 0.3359 2.2262 0.4013 1.0078 1.0957 %! 0.6335 0.6776 2.6933 1.6155 1.8502 %! 0.4804 1.1561 0.9110 2.7461 2.0854 %! 0.7105 1.4244 1.8835 1.0966 3.4134 ]; %! %! Aexint_exp = [ 0.1347 0.0352 0.0284 0.0272 0.0231 %! 0.0114 0.1477 0.0104 0.0369 0.0368 %! 0.0218 0.0178 0.1624 0.0580 0.0619 %! 0.0152 0.0385 0.0267 0.1660 0.0732 %! 0.0240 0.0503 0.0679 0.0317 0.1863 ]; %! %! [Aex, Aexint] = __sl_mb05nd__ (A, 0.1, 0.0001); %! %!assert (Aex, Aex_exp, 1e-4); %!assert (Aexint, Aexint_exp, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/horzcat.m0000644000000000000000000000013213450727360016363 xustar0030 mtime=1554231024.185413207 30 atime=1554231024.185413207 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/horzcat.m0000644000175000017500000000603313450727360016626 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Horizontal concatenation of @acronym{LTI} objects. If necessary, object conversion ## is done by sys_group. Used by Octave for "[sys1, sys2]". ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function sys = horzcat (sys, varargin) for k = 1 : (nargin-1) sys1 = sys; sys2 = varargin{k}; [p1, m1] = size (sys1); [p2, m2] = size (sys2); if (p1 != p2) error ("lti: horzcat: number of system outputs incompatible: [(%dx%d), (%dx%d)]", p1, m1, p2, m2); endif sys = __sys_group__ (sys1, sys2); out_scl = [eye(p1), eye(p2)]; sys = out_scl * sys; endfor endfunction ## Rowwise concatenation of two systems in state-space form ## Test from SLICOT AB05OD %!shared M, Me %! A1 = [ 1.0 0.0 -1.0 %! 0.0 -1.0 1.0 %! 1.0 1.0 2.0 ]; %! %! B1 = [ 1.0 1.0 0.0 %! 2.0 0.0 1.0 ].'; %! %! C1 = [ 3.0 -2.0 1.0 %! 0.0 1.0 0.0 ]; %! %! D1 = [ 1.0 0.0 %! 0.0 1.0 ]; %! %! A2 = [-3.0 0.0 0.0 %! 1.0 0.0 1.0 %! 0.0 -1.0 2.0 ]; %! %! B2 = [ 0.0 -1.0 0.0 %! 1.0 0.0 2.0 ].'; %! %! C2 = [ 1.0 1.0 0.0 %! 1.0 1.0 -1.0 ]; %! %! D2 = [ 1.0 1.0 %! 0.0 1.0 ]; %! %! sys1 = ss (A1, B1, C1, D1); %! sys2 = ss (A2, B2, C2, D2); %! sys = [sys1, sys2]; %! [A, B, C, D] = ssdata (sys); %! M = [A, B; C, D]; %! %! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 %! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000 %! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000 %! 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ]; %! %! Be = [ 1.0000 2.0000 0.0000 0.0000 %! 1.0000 0.0000 0.0000 0.0000 %! 0.0000 1.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 1.0000 %! 0.0000 0.0000 -1.0000 0.0000 %! 0.0000 0.0000 0.0000 2.0000 ]; %! %! Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000 %! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ]; %! %! De = [ 1.0000 0.0000 1.0000 1.0000 %! 0.0000 1.0000 0.0000 1.0000 ]; %! %! Me = [Ae, Be; Ce, De]; %! %!assert (M, Me, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/__lti_data__.m0000644000000000000000000000013213450727360017266 xustar0030 mtime=1554231024.137411375 30 atime=1554231024.137411375 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/__lti_data__.m0000644000175000017500000000202513450727360017526 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Used by display routines instead of multiple get calls. ## Author: Lukas Reichlin ## Created: September 2010 ## Version: 0.1 function [inname, outname, tsam] = __lti_data__ (sys) inname = sys.inname; outname = sys.outname; tsam = sys.tsam; endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/times.m0000644000000000000000000000013213450727360016032 xustar0030 mtime=1554231024.225414735 30 atime=1554231024.225414735 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/times.m0000644000175000017500000000350313450727360016274 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Hadamard/Schur product of transfer function matrices. ## Also known as element-wise multiplication. ## Used by Octave for "sys1 .* sys2".@* ## @strong{Example} ## @example ## @group ## # Compute Relative-Gain Array ## G = tf (Boeing707) ## RGA = G .* inv (G).' ## # Gain at 0 rad/s ## RGA(0) ## @end group ## @end example ## Author: Lukas Reichlin ## Created: April 2014 ## Version: 0.2 function sys = times (sys1, sys2) if (nargin != 2) # prevent sys = times (sys1, sys2, sys3, ...) error ("lti: times: this is a binary operator"); endif [p1, m1] = size (sys1); [p2, m2] = size (sys2); if (p1 != p2 || m1 != m2) if (p1 == 1 && m1 == 1 && p2*m2 > 1) # sys1 SISO, sys2 non-empty sys1 = repmat (sys1, p2, m2); elseif (p2 == 1 && m2 == 1 && p1*m1 > 1) # sys2 SISO, sys1 non-empty sys2 = repmat (sys2, p1, m1); else error ("lti: times: system dimensions incompatible: (%dx%d) .* (%dx%d)", ... p1, m1, p2, m2); endif endif sys = __times__ (sys1, sys2); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/inv.m0000644000000000000000000000013213450727360015505 xustar0030 mtime=1554231024.185413207 30 atime=1554231024.185413207 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/inv.m0000644000175000017500000000426713450727360015757 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Inversion of @acronym{LTI} objects. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function retsys = inv (sys) if (nargin != 1) # prevent sys = inv (sys1, sys2, sys3, ...) error ("lti: inv: this is an unary operator"); endif [p, m] = size (sys); if (p != m) error ("lti: inv: system must be square"); endif retsys = __sys_inverse__ (sys); ## handle i/o names retsys.inname = sys.outname; retsys.outname = sys.inname; retsys.ingroup = sys.outgroup; retsys.outgroup = sys.ingroup; endfunction ## inverse of state-space models ## test from SLICOT AB07ND ## result differs intentionally from slicot ## to prevent states x_inv = -x %!shared M, Me %! A = [ 1.0 2.0 0.0 %! 4.0 -1.0 0.0 %! 0.0 0.0 1.0 ]; %! %! B = [ 1.0 0.0 %! 0.0 1.0 %! 1.0 0.0 ]; %! %! C = [ 0.0 1.0 -1.0 %! 0.0 0.0 1.0 ]; %! %! D = [ 4.0 0.0 %! 0.0 1.0 ]; %! %! sys = ss (A, B, C, D); %! sysinv = inv (sys); %! [Ai, Bi, Ci, Di] = ssdata (sysinv); %! M = [Ai, Bi; Ci, Di]; %! %! Ae = [ 1.0000 1.7500 0.2500 %! 4.0000 -1.0000 -1.0000 %! 0.0000 -0.2500 1.2500 ]; %! %! Be = [-0.2500 0.0000 %! 0.0000 -1.0000 %! -0.2500 0.0000 ]; %! %! Ce = [ 0.0000 0.2500 -0.2500 %! 0.0000 0.0000 1.0000 ]; %! %! De = [ 0.2500 0.0000 %! 0.0000 1.0000 ]; %! %! Me = [Ae, -Be; -Ce, De]; %! %!assert (M, Me, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/d2d.m0000644000000000000000000000013213450727360015362 xustar0030 mtime=1554231024.169412597 30 atime=1554231024.165412444 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/d2d.m0000644000175000017500000000460213450727360015625 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} d2d (@var{sys}, @var{tsam}) ## @deftypefnx {Function File} {@var{sys} =} d2d (@var{sys}, @var{tsam}, @var{method}) ## @deftypefnx {Function File} {@var{sys} =} d2d (@var{sys}, @var{tsam}, @var{'prewarp'}, @var{w0}) ## Resample discrete-time @acronym{LTI} model to sampling time @var{tsam}. ## ## @strong{Inputs} ## @table @var ## @item sys ## Discrete-time @acronym{LTI} model. ## @item tsam ## Desired sampling time in seconds. ## @item method ## Optional conversion method. If not specified, default method @var{"zoh"} ## is taken. ## @table @var ## @item 'zoh' ## Zero-order hold or matrix logarithm. ## @item 'tustin', 'bilin' ## Bilinear transformation or Tustin approximation. ## @item 'prewarp' ## Bilinear transformation with pre-warping at frequency @var{w0}. ## @item 'matched' ## Matched pole/zero method. ## @end table ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Resampled discrete-time @acronym{LTI} model with sampling time @var{tsam}. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2013 ## Version: 0.1 function sys = d2d (sys, tsam, method = "std", w0 = 0) if (nargin < 2) print_usage (); endif tmp = d2c (sys, method, w0); sys = c2d (tmp, tsam, method, w0); endfunction %!shared num, den, z, p, k %! H1 = zpk (0.7, 0.5, 1, 0.1); %! H2 = d2d (H1, 0.05); %! H3 = d2d (H2, 0.1); %! [num, den] = tfdata (H2, "vector"); %! [z, p, k] = zpkdata (H3, "vector"); %!assert (num, [1.00000 -0.82426], 1e-4); %!assert (den, [1.00000 -0.70711], 1e-4); %!assert (z, 0.7, 1e-4); %!assert (p, 0.5, 1e-4); %!assert (k, 1.0, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/issiso.m0000644000000000000000000000013213450727360016222 xustar0030 mtime=1554231024.193413513 30 atime=1554231024.193413513 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/issiso.m0000644000175000017500000000215713450727360016470 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{bool} =} issiso (@var{sys}) ## Determine whether @acronym{LTI} model is single-input/single-output (SISO). ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function bool = issiso (sys) if (nargin != 1) print_usage (); endif bool = all (size (sys) == 1); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/xperm.m0000644000000000000000000000013013450727360016042 xustar0029 mtime=1554231024.23341504 29 atime=1554231024.23341504 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/xperm.m0000644000175000017500000000370313450727360016310 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{retsys} =} xperm (@var{sys}, @var{idx}) ## Reorder states in state-space models. ## ## @strong{Inputs} ## @table @var ## @item sys ## State-space model. ## @item idx ## Vector containing the state indices in the desired order. ## Alternatively, a cell vector containing the state names ## is possible as well. See @code{sys.stname}. State names ## only work if they were assigned explicitly before, i.e. ## @code{sys.stname} contains no empty strings. ## Note that if certain state indices of @var{sys} are ## missing or appear multiple times in @var{idx}, these ## states will be pruned or duplicated accordingly in the ## resulting state-space model @var{retsys}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item retsys ## Resulting state-space model with states reordered according to @var{idx}. ## @end table ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 0.2 function sys = xperm (sys, st_idx) if (nargin != 2) print_usage (); endif if (! isa (sys, "ss")) warning ("xperm: system not in state-space form"); sys = ss (sys); endif sys = __sys_prune__ (sys, ":", ":", st_idx); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/filtdata.m0000644000000000000000000000013213450727360016501 xustar0030 mtime=1554231024.177412902 30 atime=1554231024.177412902 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/filtdata.m0000644000175000017500000000621313450727360016744 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{num}, @var{den}, @var{tsam}] =} filtdata (@var{sys}) ## @deftypefnx {Function File} {[@var{num}, @var{den}, @var{tsam}] =} filtdata (@var{sys}, @var{"vector"}) ## Access discrete-time transfer function data in DSP format. ## Argument @var{sys} is not limited to transfer function models. ## If @var{sys} is not a transfer function, it is converted automatically. ## ## @strong{Inputs} ## @table @var ## @item sys ## Any type of discrete-time @acronym{LTI} model. ## @item "v", "vector" ## For SISO models, return @var{num} and @var{den} directly as column vectors ## instead of cells containing a single column vector. ## @end table ## ## @strong{Outputs} ## @table @var ## @item num ## Cell of numerator(s). Each numerator is a row vector ## containing the coefficients of the polynomial in ascending powers of z^-1. ## num@{i,j@} contains the numerator polynomial from input j to output i. ## In the SISO case, a single vector is possible as well. ## @item den ## Cell of denominator(s). Each denominator is a row vector ## containing the coefficients of the polynomial in ascending powers of z^-1. ## den@{i,j@} contains the denominator polynomial from input j to output i. ## In the SISO case, a single vector is possible as well. ## @item tsam ## Sampling time in seconds. If @var{tsam} is not specified, -1 is returned. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: April 2012 ## Version: 0.1 function [num, den, tsam] = filtdata (sys, rtype = "cell") if (nargin > 2) print_usage (); endif if (! isdt (sys)) error ("lti: filtdata: require discrete-time system"); endif [num, den, tsam] = tfdata (sys); ## make numerator and denominator polynomials equally long ## by adding leading zeros lnum = cellfun (@length, num, "uniformoutput", false); lden = cellfun (@length, den, "uniformoutput", false); lmax = cellfun (@max, lnum, lden, "uniformoutput", false); num = cellfun (@prepad, num, lmax, "uniformoutput", false); den = cellfun (@prepad, den, lmax, "uniformoutput", false); ## remove trailing zeros ## such that polynomials are as short as possible num = cellfun (@__remove_trailing_zeros__, num, "uniformoutput", false); den = cellfun (@__remove_trailing_zeros__, den, "uniformoutput", false); if (strncmpi (rtype, "v", 1) && issiso (sys)) num = num{1}; den = den{1}; endif endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/uminus.m0000644000000000000000000000013213450727360016231 xustar0030 mtime=1554231024.229414888 30 atime=1554231024.229414888 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/uminus.m0000644000175000017500000000221213450727360016467 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Unary minus of @acronym{LTI} object. Used by Octave for "-sys". ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function sys = uminus (sys) if (nargin != 1) # prevent sys = uminus (sys1, sys2, sys3, ...) error ("lti: uminus: this is an unary operator"); endif [p, m] = size (sys); out_scl = - eye (p); sys = out_scl * sys; endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/eig.m0000644000000000000000000000013013450727360015453 xustar0029 mtime=1554231024.17341275 29 atime=1554231024.17341275 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/eig.m0000644000175000017500000000201713450727360015716 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{p} =} eig (@var{sys}) ## Compute poles of @acronym{LTI} system. ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.1 function pol = eig (varargin) pol = pole (varargin{:}); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/mldivide.m0000644000000000000000000000013213450727360016506 xustar0030 mtime=1554231024.201413818 30 atime=1554231024.201413818 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/mldivide.m0000644000175000017500000000271413450727360016753 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Matrix left division of @acronym{LTI} objects. If necessary, object conversion ## is done by sys_group in mtimes. Used by Octave for "sys1 \\ sys2". ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.2 function sys = mldivide (sys1, sys2) if (nargin != 2) # prevent sys = mldivide (sys1, sys2, sys3, ...) error ("lti: mldivide: this is a binary operator"); endif sys1 = inv (sys1); # let octave decide which inv() it uses ## [p1, m1] = size (sys1); ## [p2, m2] = size (sys2); ## ## if (m1 != p2) ## error ("lti: mldivide: system dimensions incompatible: (%dx%d) \\ (%dx%d)", ## p1, m1, p2, m2); ## endif sys = sys1 * sys2; endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/minreal.m0000644000000000000000000000013213450727360016340 xustar0030 mtime=1554231024.197413665 30 atime=1554231024.197413665 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/minreal.m0000644000175000017500000001122213450727360016577 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} minreal (@var{sys}) ## @deftypefnx {Function File} {@var{sys} =} minreal (@var{sys}, @var{tol}) ## Minimal realization or zero-pole cancellation of @acronym{LTI} models. ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function sys = minreal (sys, tol = "def") if (nargin > 2) # nargin == 0 not possible because minreal is inside @lti print_usage (); endif if (! is_real_scalar (tol) && tol != "def") error ("minreal: second argument must be a real-valued scalar"); endif sys = __minreal__ (sys, tol); endfunction ## ss: minreal (SLICOT TB01PD) %!shared C, D %! %! A = ss (-2, 3, 4, 5); %! B = A / A; %! C = minreal (B, 1e-15); %! D = ss (1); %! %!assert (C.a, D.a); %!assert (C.b, D.b); %!assert (C.c, D.c); %!assert (C.d, D.d); %!shared M, Me %! A = [ 1.0 2.0 0.0 %! 4.0 -1.0 0.0 %! 0.0 0.0 1.0 ]; %! %! B = [ 1.0 %! 0.0 %! 1.0 ]; %! %! C = [ 0.0 1.0 -1.0 %! 0.0 0.0 1.0 ]; %! %! D = zeros (2, 1); %! %! [Ar, Br, Cr] = __sl_tb01pd__ (A, B, C, 0.0, true); %! M = [Ar, Br; Cr, D]; %! %! Ae = [ 1.0000 -1.4142 1.4142 %! -2.8284 0.0000 1.0000 %! 2.8284 1.0000 0.0000 ]; %! %! Be = [-1.0000 %! 0.7071 %! 0.7071 ]; %! %! Ce = [ 0.0000 0.0000 -1.4142 %! 0.0000 0.7071 0.7071 ]; %! %! De = zeros (2, 1); %! %! Me = [Ae, Be; Ce, De]; %! %!assert (M, Me, 1e-4); ## dss: minreal (SLICOT TG01JD) ## FIXME: Test fails with larger ldwork in sltg01jd.cc %!shared Ar, Br, Cr, Dr, Er, Ae, Be, Ce, De, Ee, num, den, num2, den2, num3, num3a, den3, den3a %! A = [ -2 -3 0 0 0 0 0 0 0 %! 1 0 0 0 0 0 0 0 0 %! 0 0 -2 -3 0 0 0 0 0 %! 0 0 1 0 0 0 0 0 0 %! 0 0 0 0 1 0 0 0 0 %! 0 0 0 0 0 1 0 0 0 %! 0 0 0 0 0 0 1 0 0 %! 0 0 0 0 0 0 0 1 0 %! 0 0 0 0 0 0 0 0 1 ]; %! %! E = [ 1 0 0 0 0 0 0 0 0 %! 0 1 0 0 0 0 0 0 0 %! 0 0 1 0 0 0 0 0 0 %! 0 0 0 1 0 0 0 0 0 %! 0 0 0 0 0 0 0 0 0 %! 0 0 0 0 1 0 0 0 0 %! 0 0 0 0 0 0 0 0 0 %! 0 0 0 0 0 0 1 0 0 %! 0 0 0 0 0 0 0 1 0 ]; %! %! B = [ 1 0 %! 0 0 %! 0 1 %! 0 0 %! -1 0 %! 0 0 %! 0 -1 %! 0 0 %! 0 0 ]; %! %! C = [ 1 0 1 -3 0 1 0 2 0 %! 0 1 1 3 0 1 0 0 1 ]; %! %! D = zeros (2, 2); %! %! sys = dss (A, B, C, D, E, "scaled", true); %! sysmin = minreal (sys, 0.0); %! [Ar, Br, Cr, Dr, Er] = dssdata (sysmin); %! [num,den]=tfdata(sys) %! sysmin = minreal (sys, 1e-6); %! [num2,den2]=tfdata(sysmin) %! sys3 = dss (Ar, Br, Cr, Dr, Er, "scaled", true); %! [num3,den3]=tfdata(sys3) %! sysmin3 = minreal (sys3, 1e-6); %! [num3a,den3a]=tfdata(sysmin3) %! %!assert (num, num2 , 1e-4); %!assert (den, den2 , 1e-4); %!assert (num3, num3a , 1e-4); %!assert (den3, den3a , 1e-4); %!assert (num, num3a, 1e-4); %!assert (den, den3a, 1e-4); ## tf: minreal %!shared a, b, c, d %! s = tf ("s"); %! G1 = (s+1)*s*5/(s+1)/(s^2+s+1); %! G2 = tf ([1, 1, 1], [2, 2, 2]); %! G1min = minreal (G1); %! G2min = minreal (G2); %! a = G1min.num{1, 1}; %! b = G1min.den{1, 1}; %! c = G2min.num{1, 1}; %! d = G2min.den{1, 1}; %!assert (a, [5, 0], 1e-4); %!assert (b, [1, 1, 1], 1e-4); %!assert (c, 0.5, 1e-4); %!assert (d, 1, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/freqresp.m0000644000000000000000000000013213450727360016540 xustar0030 mtime=1554231024.181413055 30 atime=1554231024.181413055 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/freqresp.m0000644000175000017500000000334013450727360017001 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{H} =} freqresp (@var{sys}, @var{w}) ## Evaluate frequency response at given frequencies. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. ## @item w ## Vector of frequency values. ## @end table ## ## @strong{Outputs} ## @table @var ## @item H ## Array of frequency response. For a system with m inputs and p outputs, the array @var{H} ## has dimensions [p, m, length (w)]. ## The frequency response at the frequency w(k) is given by H(:,:,k). ## @end table ## ## @seealso{dcgain} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.2 function H = freqresp (sys, w) if (nargin != 2) # case freqresp () not possible print_usage (); endif if (! is_real_vector (w)) # catches freqresp (sys, sys) and freqresp (w, sys) as well error ("freqresp: second argument 'w' must be a real-valued vector of frequencies"); endif H = __freqresp__ (sys, w); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/mrdivide.m0000644000000000000000000000013213450727360016514 xustar0030 mtime=1554231024.205413971 30 atime=1554231024.205413971 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/mrdivide.m0000644000175000017500000000271313450727360016760 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Matrix right division of @acronym{LTI} objects. If necessary, object conversion ## is done by sys_group in mtimes. Used by Octave for "sys1 / sys2". ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.2 function sys = mrdivide (sys1, sys2) if (nargin != 2) # prevent sys = mrdivide (sys1, sys2, sys3, ...) error ("lti: mrdivide: this is a binary operator"); endif sys2 = inv (sys2); # let octave decide which inv() it uses ## [p1, m1] = size (sys1); ## [p2, m2] = size (sys2); ## ## if (m1 != p2) ## error ("lti: mrdivide: system dimensions incompatible: (%dx%d) / (%dx%d)", ## p1, m1, p2, m2); ## endif sys = sys1 * sys2; endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/mtimes.m0000644000000000000000000000013213450727360016207 xustar0030 mtime=1554231024.205413971 30 atime=1554231024.205413971 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/mtimes.m0000644000175000017500000001117413450727360016454 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Matrix multiplication of @acronym{LTI} objects. If necessary, object conversion ## is done by sys_group. Used by Octave for "sys1 * sys2". ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.4 function sys = mtimes (sys2, sys1) if (nargin != 2) # prevent sys = mtimes (sys1, sys2, sys3, ...) error ("lti: mtimes: this is a binary operator"); endif [p1, m1] = size (sys1); [p2, m2] = size (sys2); if (m2 != p1) # innner dimensions don't match if (p1 == 1 && m1 == 1 && m2 > 1) # sys1 is SISO, m2 != 0 [sys1, p1, m1] = __siso_expansion__ (sys1, m2); elseif (p2 == 1 && m2 == 1 && p1 > 1) # sys2 is SISO, p1 != 0 [sys2, p2, m2] = __siso_expansion__ (sys2, p1); else error ("lti: mtimes: system dimensions incompatible: (%dx%d) * (%dx%d)", p2, m2, p1, m1); endif endif M22 = zeros (m2, p2); M21 = eye (m2, p1); M12 = zeros (m1, p2); M11 = zeros (m1, p1); M = [M22, M21; M12, M11]; out_idx = 1 : p2; in_idx = m2 + (1 : m1); sys = __sys_group__ (sys2, sys1); sys = __sys_connect__ (sys, M); sys = __sys_prune__ (sys, out_idx, in_idx); endfunction ## concatenate lti or matrix sys s times block-diagonally ## despite its name, it also works for MIMO systems. function [sys, p, m] = __siso_expansion__ (sys, s) tmp = cell (s, 1); tmp(1:s) = sys; sys = blkdiag (tmp{:}); [p, m] = size (sys); endfunction ## Alternative code: consistency vs. compatibility #{ M11 = zeros (m1, p1); M12 = zeros (m1, p2); M21 = eye (m2, p1); M22 = zeros (m2, p2); M = [M11, M12; M21, M22]; out_idx = p1 + (1 : p2); in_idx = 1 : m1; sys = __sys_group__ (sys1, sys2); #} ## Don't forget to adapt @tf/__sys_connect__.m draft code ## mtimes %!shared sysmat, sysmat_exp %! sys1 = ss ([0, 1; -3, -2], [0; 1], [-5, 1], [2]); %! sys2 = ss ([-10], [1], [-40], [5]); %! sys3 = sys2 * sys1; %! [A, B, C, D] = ssdata (sys3); %! sysmat = [A, B; C, D]; %! A_exp = [ -10 -5 1 %! 0 0 1 %! 0 -3 -2 ]; %! B_exp = [ 2 %! 0 %! 1 ]; %! C_exp = [ -40 -25 5 ]; %! D_exp = [ 10 ]; %! sysmat_exp = [A_exp, B_exp; C_exp, D_exp]; %!assert (sysmat, sysmat_exp) ## Cascade inter-connection of two systems in state-space form ## Test from SLICOT AB05MD ## TODO: order of united state vector: consistency vs. compatibility? #%!shared M, Me #%! A1 = [ 1.0 0.0 -1.0 #%! 0.0 -1.0 1.0 #%! 1.0 1.0 2.0 ]; #%! #%! B1 = [ 1.0 1.0 0.0 #%! 2.0 0.0 1.0 ].'; #%! #%! C1 = [ 3.0 -2.0 1.0 #%! 0.0 1.0 0.0 ]; #%! #%! D1 = [ 1.0 0.0 #%! 0.0 1.0 ]; #%! #%! A2 = [-3.0 0.0 0.0 #%! 1.0 0.0 1.0 #%! 0.0 -1.0 2.0 ]; #%! #%! B2 = [ 0.0 -1.0 0.0 #%! 1.0 0.0 2.0 ].'; #%! #%! C2 = [ 1.0 1.0 0.0 #%! 1.0 1.0 -1.0 ]; #%! #%! D2 = [ 1.0 1.0 #%! 0.0 1.0 ]; #%! #%! sys1 = ss (A1, B1, C1, D1); #%! sys2 = ss (A2, B2, C2, D2); #%! sys = sys2 * sys1; #%! [A, B, C, D] = ssdata (sys); #%! M = [A, B; C, D]; #%! #%! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 #%! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000 #%! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000 #%! 0.0000 1.0000 0.0000 -3.0000 0.0000 0.0000 #%! -3.0000 2.0000 -1.0000 1.0000 0.0000 1.0000 #%! 0.0000 2.0000 0.0000 0.0000 -1.0000 2.0000 ]; #%! #%! Be = [ 1.0000 2.0000 #%! 1.0000 0.0000 #%! 0.0000 1.0000 #%! 0.0000 1.0000 #%! -1.0000 0.0000 #%! 0.0000 2.0000 ]; #%! #%! Ce = [ 3.0000 -1.0000 1.0000 1.0000 1.0000 0.0000 #%! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ]; #%! #%! De = [ 1.0000 1.0000 #%! 0.0000 1.0000 ]; #%! #%! Me = [Ae, Be; Ce, De]; #%! #%!assert (M, Me, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/dcgain.m0000644000000000000000000000013213450727360016136 xustar0030 mtime=1554231024.169412597 30 atime=1554231024.169412597 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/dcgain.m0000644000175000017500000000435613450727360016407 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{k} =} dcgain (@var{sys}) ## Compute the DC gain of @acronym{LTI} system. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system created by tf(), ss(), dss(), etc. ## @end table ## ## @strong{Outputs} ## @table @var ## @item k ## DC gain matrix. For a system with m inputs and p outputs, the array @var{k} ## has dimensions [p, m]. ## @end table ## ## Transfer function for a continuous state space system (A,B,C,D) ## G(s) = C * inv(s*I - A) * B + D ## ## DC Gain: evaluate G(s) as s -> 0: ## k = C * inv(-A) * B + D ## ## Transfer function for a discrete state space system (A,B,C,D,T) ## G(z) = C * inv(z*I - A) * B + D ## ## DC Gain: evaluate G(z) as z -> 1: ## k = C * inv(I-A) * B + D ## ## @strong{Example} ## @example ## G = Transfer function 'G' from input 'u1' to output ... ## ## 1 ## y1: --------------------- ## s^3 + 2 s^2 + 3 s + 4 ## ## ## octave:1> K = dcgain(G) ## ## K = 0.25000 ## @end example ## ## @seealso{freqresp,tf,ss,dss} ## @end deftypefn ## Author: Lukas Reichlin ## Author: Geraint Paul Bevan ## Created: October 2009 ## Version: 0.1 function gain = dcgain (sys) if (nargin != 1) # sys is always an LTI model print_usage (); endif gain = __freqresp__ (sys, 0); endfunction %!assert( dcgain( tf(1,[1,1]) ) , 1 ) %!assert( dcgain( tf(2,[1,1]) ) , 2 ) %!assert( dcgain( ss([0,1;-2,-3],[0;1],[1,0],0) ) , 0.5 ) control-3.2.0/inst/@lti/PaxHeaders.3947/mpower.m0000644000000000000000000000013213450727360016222 xustar0030 mtime=1554231024.201413818 30 atime=1554231024.201413818 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/mpower.m0000644000175000017500000000344713450727360016473 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Matrix power of @acronym{LTI} objects. The exponent must be an integer. ## Used by Octave for "sys^int". ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.2 function retsys = mpower (sys, e) if (nargin != 2) # prevent sys = mpower (a, b, c, ...) error ("lti: mpower: this is a binary operator"); endif if (! is_real_scalar (e) || e != round (e)) error ("lti: mpower: exponent must be an integer"); endif [p, m] = size (sys); if (p != m) error ("lti: mpower: system must be square"); endif mimo_tf = (p*m > 1) && isa (sys, "tf"); if (mimo_tf) sys = ss (sys); endif ex = round (abs (e)); # make sure ex is a positive integer switch (sign (e)) case -1 # lti^-ex sys = inv (sys); retsys = sys; case 0 # lti^0 retsys = eye (p); return; case 1 # lti^ex retsys = sys; endswitch for k = 2 : ex retsys = retsys * sys; endfor if (mimo_tf) retsys = tf (retsys); endif endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/dssdata.m0000644000000000000000000000013013450727360016332 xustar0029 mtime=1554231024.17341275 29 atime=1554231024.17341275 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/dssdata.m0000644000175000017500000000473513450727360016606 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}, @var{e}, @var{tsam}] =} dssdata (@var{sys}) ## @deftypefnx {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}, @var{e}, @var{tsam}] =} dssdata (@var{sys}, @var{[]}) ## Access descriptor state-space model data. ## Argument @var{sys} is not limited to descriptor state-space models. ## If @var{sys} is not a descriptor state-space model, it is converted automatically. ## ## @strong{Inputs} ## @table @var ## @item sys ## Any type of @acronym{LTI} model. ## @item [] ## In case @var{sys} is not a dss model (descriptor matrix @var{e} empty), ## @code{dssdata (sys, [])} returns the empty element @code{e = []} whereas ## @code{dssdata (sys)} returns the identity matrix @code{e = eye (size (a))}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item a ## State matrix (n-by-n). ## @item b ## Input matrix (n-by-m). ## @item c ## Measurement matrix (p-by-n). ## @item d ## Feedthrough matrix (p-by-m). ## @item e ## Descriptor matrix (n-by-n). ## @item tsam ## Sampling time in seconds. If @var{sys} is a continuous-time model, ## a zero is returned. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2010 ## Version: 0.2 function [a, b, c, d, e, tsam, scaled] = dssdata (sys, flg = 0) ## NOTE: In case sys is not a dss model (matrice e empty), ## dssdata (sys, []) returns e = [] whereas ## dssdata (sys) returns e = eye (size (a)) if (nargin > 2) print_usage (); endif if (! isa (sys, "ss")) sys = ss (sys); endif [a, b, c, d, e, ~, scaled] = __sys_data__ (sys); if (isempty (e) && ! isempty (flg)) e = eye (size (a)); # return eye for ss models endif tsam = sys.tsam; endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/transpose.m0000644000000000000000000000013213450727360016727 xustar0030 mtime=1554231024.225414735 30 atime=1554231024.225414735 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/transpose.m0000644000175000017500000000261513450727360017174 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Transpose of @acronym{LTI} objects. Used by Octave for "sys.'". ## Useful for dual problems, i.e. controllability and observability ## or designing estimator gains with @command{lqr} and @command{place}. ## Author: Lukas Reichlin ## Created: February 2010 ## Version: 0.2 function sys = transpose (sys) if (nargin != 1) # prevent sys = transpose (sys1, sys2, sys3, ...) error ("lti: transpose: this is an unary operator"); endif [p, m] = size (sys); sys = __transpose__ (sys); sys.inname = repmat ({""}, p, 1); sys.outname = repmat ({""}, m, 1); sys.ingroup = struct (); sys.outgroup = struct (); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/blkdiag.m0000644000000000000000000000013213450727360016306 xustar0030 mtime=1554231024.157412138 30 atime=1554231024.157412138 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/blkdiag.m0000644000175000017500000000222013450727360016543 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} blkdiag (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}) ## Block-diagonal concatenation of @acronym{LTI} models. ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function sys = blkdiag (varargin) sys = varargin{1}; for k = 2 : nargin sys = __sys_group__ (sys, varargin{k}); endfor endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/parallel.m0000644000000000000000000000013213450727360016505 xustar0030 mtime=1554231024.209414123 30 atime=1554231024.209414123 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/parallel.m0000644000175000017500000000321213450727360016744 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{sys} =} parallel (@var{sys1}, @var{sys2}) ## Parallel connection of two @acronym{LTI} systems. ## ## @strong{Block Diagram} ## @example ## @group ## .......................... ## : +--------+ : ## : +-->| sys1 |---+ : ## u : | +--------+ | + : y ## -------+ O---------> ## : | +--------+ | + : ## : +-->| sys2 |---+ : ## : +--------+ : ## :.........sys............: ## ## sys = parallel (sys1, sys2) ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function sys = parallel (sys1, sys2) if (nargin == 2) sys = sys1 + sys2; ## elseif (nargin == 6) ## TODO: implement "complicated" case sys = parallel (sys1, sys2, in1, in2, out1, out2) else print_usage (); endif endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/__lti_keys__.m0000644000000000000000000000013213450727360017330 xustar0030 mtime=1554231024.153411985 30 atime=1554231024.153411985 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/__lti_keys__.m0000644000175000017500000000367713450727360017606 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{keys}, @var{vals}] =} __lti_keys__ (@var{sys}) ## Return the list of keys as well as the assignable values for an LTI object sys. ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.3 function [keys, vals] = __lti_keys__ (sys, aliases = false, subclasses = true) ## cell vector of lti-specific keys keys = {"tsam"; "inname"; "outname"; "ingroup"; "outgroup"; "name"; "notes"; "userdata"}; ## cell vector of lti-specific assignable values vals = {"scalar (sample time in seconds)"; "m-by-1 cell vector of strings"; "p-by-1 cell vector of strings"; "struct with indices as fields"; "struct with indices as fields"; "string"; "string or cell of strings"; "any data type"}; if (aliases) ka = {"inputname"; "outputname"; "inputgroup"; "outputgroup"; "lti"}; keys = [keys; ka]; endif if (subclasses) [syskeys, sysvals] = __sys_keys__ (sys, aliases); keys = [syskeys; keys]; vals = [sysvals; vals]; endif endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/size.m0000644000000000000000000000013213450727360015663 xustar0030 mtime=1554231024.217414429 30 atime=1554231024.217414429 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/size.m0000644000175000017500000000474513450727360016136 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{nvec} =} size (@var{sys}) ## @deftypefnx {Function File} {@var{n} =} size (@var{sys}, @var{dim}) ## @deftypefnx {Function File} {[@var{p}, @var{m}] =} size (@var{sys}) ## @acronym{LTI} model size, i.e. number of outputs and inputs. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. ## @item dim ## If given a second argument, @command{size} will return the size of the ## corresponding dimension. ## @end table ## ## @strong{Outputs} ## @table @var ## @item nvec ## Row vector. The first element is the number of outputs (rows) and the second ## element the number of inputs (columns). ## @item n ## Scalar value. The size of the dimension @var{dim}. ## @item p ## Number of outputs. ## @item m ## Number of inputs. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function [n, varargout] = size (sys, dim = 0) if (nargin > 2) print_usage (); endif p = numel (sys.outname); # WARNING: system matrices may change without m = numel (sys.inname); # being noticed by the i/o names! switch (dim) case 0 switch (nargout) case 0 if (p == 1) stry = ""; else stry = "s"; endif if (m == 1) stru = ""; else stru = "s"; endif disp (sprintf ("LTI model with %d output%s and %d input%s.", p, stry, m, stru)); case 1 n = [p, m]; case 2 n = p; varargout{1} = m; otherwise print_usage (); endswitch case 1 n = p; case 2 n = m; otherwise print_usage (); endswitch endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/ssdata.m0000644000000000000000000000013213450727360016170 xustar0030 mtime=1554231024.221414582 30 atime=1554231024.221414582 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/ssdata.m0000644000175000017500000000340713450727360016435 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}] =} ssdata (@var{sys}) ## Access state-space model data. ## Argument @var{sys} is not limited to state-space models. ## If @var{sys} is not a state-space model, it is converted automatically. ## ## @strong{Inputs} ## @table @var ## @item sys ## Any type of @acronym{LTI} model. ## @end table ## ## @strong{Outputs} ## @table @var ## @item a ## State matrix (n-by-n). ## @item b ## Input matrix (n-by-m). ## @item c ## Measurement matrix (p-by-n). ## @item d ## Feedthrough matrix (p-by-m). ## @item tsam ## Sampling time in seconds. If @var{sys} is a continuous-time model, ## a zero is returned. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.4 function [a, b, c, d, tsam, scaled] = ssdata (sys) if (! isa (sys, "ss")) sys = ss (sys); endif [a, b, c, d, e, ~, scaled] = __sys_data__ (sys); [a, b, c, d, e] = __dss2ss__ (a, b, c, d, e); tsam = sys.tsam; endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/__lti_group__.m0000644000000000000000000000013213450727360017511 xustar0030 mtime=1554231024.153411985 30 atime=1554231024.153411985 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/__lti_group__.m0000644000175000017500000000606213450727360017756 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Block diagonal concatenation of two LTI models. ## This file is part of the Model Abstraction Layer. ## For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function retlti = __lti_group__ (lti1, lti2, dim = "blkdiag") retlti = lti (:, :, :); if (any (strcmpi (dim, {"blkdiag", "horzcat"}))) # blkdiag, horzcat retlti.inname = [lti1.inname; lti2.inname]; if (numfields (lti1.ingroup) || numfields (lti2.ingroup)) m1 = numel (lti1.inname); lti2_ingroup = structfun (@(x) x + m1, lti2.ingroup, "uniformoutput", false); retlti.ingroup = __merge_struct__ (lti1.ingroup, lti2_ingroup); endif else # times, vertcat retlti.inname = repmat ({""}, numel (lti1.inname), 1); ## retlti.ingroup remains empty struct endif if (any (strcmpi (dim, {"blkdiag", "vertcat"}))) # blkdiag, vertcat retlti.outname = [lti1.outname; lti2.outname]; if (numfields (lti1.outgroup) || numfields (lti2.outgroup)) p1 = numel (lti1.outname); lti2_outgroup = structfun (@(x) x + p1, lti2.outgroup, "uniformoutput", false); retlti.outgroup = __merge_struct__ (lti1.outgroup, lti2_outgroup); endif else # times, horzcat retlti.outname = repmat ({""}, numel (lti1.outname), 1); ## retlti.outgroup remains empty struct endif if (lti1.tsam == lti2.tsam) retlti.tsam = lti1.tsam; elseif (lti1.tsam == -2) retlti.tsam = lti2.tsam; elseif (lti2.tsam == -2) retlti.tsam = lti1.tsam; elseif (lti1.tsam == -1 && lti2.tsam > 0) retlti.tsam = lti2.tsam; elseif (lti2.tsam == -1 && lti1.tsam > 0) retlti.tsam = lti1.tsam; else error ("lti_group: systems must have identical sampling times"); endif endfunction function ret = __merge_struct__ (a, b) ## FIXME: this is too complicated; ## isn't there a simple function for this task? a = orderfields (a); b = orderfields (b); fa = fieldnames (a); fb = fieldnames (b); [fi, ia, ib] = intersect (fa, fb); ca = struct2cell (a); cb = struct2cell (b); for k = numel (fi) : -1 : 1 ca{ia(k)} = vertcat (ca{ia(k)}(:), cb{ib(k)}(:)); fb(ib(k)) = []; cb(ib(k)) = []; endfor ret = cell2struct ([ca; cb], [fa; fb]); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/sminreal.m0000644000000000000000000000013213450727360016523 xustar0030 mtime=1554231024.221414582 30 atime=1554231024.221414582 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/sminreal.m0000644000175000017500000000740313450727360016770 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} sminreal (@var{sys}) ## @deftypefnx {Function File} {@var{sys} =} sminreal (@var{sys}, @var{tol}) ## Perform state-space model reduction based on structure. ## Remove states which have no influence on the input-output behaviour. ## The physical meaning of the states is retained. ## ## @strong{Inputs} ## @table @var ## @item sys ## State-space model. ## @item tol ## Optional tolerance for controllability and observability. ## Entries of the state-space matrices whose moduli are less or equal to @var{tol} ## are assumed to be zero. Default value is 0. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Reduced state-space model. ## @end table ## ## @seealso{minreal} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function sys = sminreal (sys, tol = 0) if (nargin > 2) # sminreal () not possible (inside @lti) print_usage (); endif if (! isa (sys, "ss")) warning ("sminreal: system not in state-space form"); sys = ss (sys); # needed by __sys_prune__ endif if (! (is_real_scalar (tol) && tol >= 0)) error ("sminreal: second argument is not a valid tolerance"); endif [a, b, c, d, e] = dssdata (sys, []); a = abs (a) > tol; b = abs (b) > tol; c = abs (c) > tol; if (! isempty (e)) e = abs (e) > tol; a = a | e; endif co_idx = __controllable_states__ (a, b); ob_idx = __controllable_states__ (a.', c.'); st_idx = intersect (co_idx, ob_idx); sys = __sys_prune__ (sys, ":", ":", st_idx); endfunction function c_idx = __controllable_states__ (a, b) n = rows (a); # number of states a = a & ! eye (n); # set diagonal entries to zero c_vec = any (b, 2); # states directly controllable c_idx = find (c_vec); # indices of directly controllable states c_idx_new = 0; # any vector of length > 0 possible while (all (length (c_idx) != [0, n]) && length(c_idx_new) != 0) u_idx = find (! c_vec); # indices of uncontrollable states #{ ## debug code a(u_idx, :) repmat (c_vec.', length (u_idx), 1) a(u_idx, :) & repmat (c_vec.', length (u_idx), 1) any (a(u_idx, :) & repmat (c_vec.', length (u_idx), 1), 2) find (any (a(u_idx, :) & repmat (c_vec.', length (u_idx), 1), 2)) #} c_idx_new = u_idx (find (any (a(u_idx, :) & repmat (c_vec.', length (u_idx), 1), 2))); c_idx = union (c_idx, c_idx_new); c_vec(c_idx_new) = 1; endwhile endfunction ## ss: sminreal %!shared B, C %! %! A = ss (-2, 3, 4, 5); %! B = A / A; %! C = sminreal (B); # no states should be removed %! %!assert (C.a, B.a); %!assert (C.b, B.b); %!assert (C.c, B.c); %!assert (C.d, B.d); %!shared A, B, D, E %! %! A = ss (-1, 1, 1, 0); %! B = ss (-2, 3, 4, 5); %! C = [A, B]; %! D = sminreal (C(:, 1)); %! E = sminreal (C(:, 2)); %! %!assert (D.a, A.a); %!assert (D.b, A.b); %!assert (D.c, A.c); %!assert (D.d, A.d); %!assert (E.a, B.a); %!assert (E.b, B.b); %!assert (E.c, B.c); %!assert (E.d, B.d); control-3.2.0/inst/@lti/PaxHeaders.3947/display.m0000644000000000000000000000013213450727360016356 xustar0030 mtime=1554231024.169412597 30 atime=1554231024.169412597 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/display.m0000644000175000017500000000312613450727360016621 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Display routine for LTI objects. Called by its child classes. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.3 function display (sys) if (numfields (sys.ingroup) > 0) __disp_group__ (sys.ingroup, "Input"); endif if (numfields (sys.outgroup) > 0) __disp_group__ (sys.outgroup, "Output"); endif if (! isempty (sys.name)) disp (["Name: ", sys.name]); endif if (sys.tsam > 0) disp (sprintf ("Sampling time: %g s", sys.tsam)); elseif (sys.tsam == -1) disp ("Sampling time: unspecified"); endif endfunction function __disp_group__ (group, io) name = fieldnames (group); idx = struct2cell (group); cellfun (@(name, idx) printf ("%s group '%s' = %s\n", io, name, mat2str (idx(:).')), ... name, idx, "uniformoutput", false); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/mconnect.m0000644000000000000000000000013213450727360016517 xustar0030 mtime=1554231024.197413665 30 atime=1554231024.197413665 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/mconnect.m0000644000175000017500000000503213450727360016760 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} mconnect (@var{sys}, @var{m}) ## @deftypefnx {Function File} {@var{sys} =} mconnect (@var{sys}, @var{m}, @var{inputs}, @var{outputs}) ## Arbitrary interconnections between the inputs and outputs of an @acronym{LTI} model. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. ## @item m ## Connection matrix. Each row belongs to an input and each column represents an output. ## @item inputs ## Vector of indices of those inputs which are retained. If not specified, all inputs are kept. ## @item outputs ## Vector of indices of those outputs which are retained. If not specified, all outputs are kept. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Interconnected system. ## @end table ## ## @strong{Example} ## @example ## @group ## Solve the system equations of ## y(t) = G e(t) ## e(t) = u(t) + M y(t) ## in order to build ## y(t) = H u(t) ## The matrix M for a (p-by-m) system G ## has m rows and p columns (m-by-p). ## ## Example for a 3x2 system: ## u1 = -1*y1 + 5*y2 + 0*y3 ## u2 = pi*y1 + 0*y2 - 7*y3 ## ## | -1 5 0 | ## M = | pi 0 7 | ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.2 function sys = mconnect (sys, M, in_idx, out_idx = ":") if (nargin < 2 || nargin > 4) print_usage (); endif [p, m] = size (sys); [mrows, mcols] = size (M); if (p != mcols || m != mrows) error ("mconnect: second argument must be a (%dx%d) matrix", m, p); endif if (! is_real_matrix (M)) error ("mconnect: second argument must be a matrix with real-valued coefficients"); endif sys = __sys_connect__ (sys, M); if (nargin > 2) sys = __sys_prune__ (sys, out_idx, in_idx); endif endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/end.m0000644000000000000000000000013213450727360015457 xustar0030 mtime=1554231024.177412902 30 atime=1554231024.177412902 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/end.m0000644000175000017500000000233213450727360015720 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## End indexing for @acronym{LTI} objects. ## Used by Octave for "sys(1:end, end-1)". ## Author: Lukas Reichlin ## Created: December 2013 ## Version: 0.1 function ret = end (sys, k, n) if (n != 2) error ("lti: end: require 2 indices in the expression"); endif [p, m] = size (sys); switch (k) case 1 ret = p; case 2 ret = m; otherwise error ("lti: end: invalid expression index k = %d", k); endswitch endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/series.m0000644000000000000000000000013213450727360016203 xustar0030 mtime=1554231024.213414276 30 atime=1554231024.213414276 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/series.m0000644000175000017500000000672113450727360016452 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} series (@var{sys1}, @var{sys2}) ## @deftypefnx {Function File} {@var{sys} =} series (@var{sys1}, @var{sys2}, @var{outputs1}, @var{inputs2}) ## Series connection of two @acronym{LTI} models. ## ## @strong{Block Diagram} ## @example ## @group ## ..................................... ## u : +--------+ y1 u2 +--------+ : y ## ------>| sys1 |---------->| sys2 |-------> ## : +--------+ +--------+ : ## :................sys................. ## ## sys = series (sys1, sys2) ## @end group ## @end example ## @example ## @group ## ..................................... ## : v2 +--------+ : ## : ---------->| | : y ## : +--------+ y1 u2 | sys2 |-------> ## u : | |---------->| | : ## ------>| sys1 | z1 +--------+ : ## : | |----------> : ## : +--------+ : ## :................sys................. ## ## outputs1 = [1] ## inputs2 = [2] ## sys = series (sys1, sys2, outputs1, inputs2) ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.3 function sys = series (sys1, sys2, out1, in2) if (nargin == 2) sys = sys2 * sys1; elseif (nargin == 4) [p1, m1] = size (sys1); [p2, m2] = size (sys2); if (! is_real_vector (out1)) error ("series: argument 3 (outputs1) invalid"); endif if (! is_real_vector (in2)) error ("series: argument 4 (inputs2) invalid"); endif l_out1 = length (out1); l_in2 = length (in2); if (l_out1 > p1) error ("series: 'outputs1' has too many indices for 'sys1'"); endif if (l_in2 > m2) error ("series: 'inputs2' has too many indices for 'sys2'"); endif if (l_out1 != l_in2) error ("series: number of 'outputs1' and 'inputs2' indices must be equal"); endif if (any (out1 > p1 | out1 < 1)) error ("series: range of 'outputs1' indices exceeds dimensions of 'sys1'"); endif if (any (in2 > m2 | in2 < 1)) error ("series: range of 'inputs2' indices exceeds dimensions of 'sys2'"); endif out_scl = full (sparse (1:l_out1, out1, 1, l_out1, p1)); in_scl = full (sparse (in2, 1:l_in2, 1, m2, l_in2)); ## NOTE: for-loop does NOT the same as ## out_scl(1:l_out1, out1) = 1; ## in_scl(in2, 1:l_out1) = 1; ## ## out_scl = zeros (l_out1, p1); ## in_scl = zeros (m2, l_in2); ## ## for k = 1 : l_out1 ## out_scl(k, out1(k)) = 1; ## in_scl(in2(k), k) = 1; ## endfor scl = in_scl * out_scl; sys = sys2 * scl * sys1; else print_usage (); endif endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/prescale.m0000644000000000000000000000013213450727360016507 xustar0030 mtime=1554231024.213414276 30 atime=1554231024.213414276 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/prescale.m0000644000175000017500000002502213450727360016751 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{scaledsys}, @var{info}] =} prescale (@var{sys}) ## Scale state-space model. The scaled model @var{scaledsys} is equivalent to ## @var{sys}, but the state vector is scaled by diagonal transformation matrices ## in order to increase the accuracy of subsequent numerical computations. ## Frequency response commands perform automatic scaling unless model property ## @var{scaled} is set to @var{true}. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @end table ## ## @strong{Outputs} ## @table @var ## @item scaledsys ## Scaled state-space model. ## @item info ## Structure containing additional information. ## @item info.SL ## Left scaling factors. @code{Tl = diag (info.SL)}. ## @item info.SR ## Right scaling factors. @code{Tr = diag (info.SR)}. ## @end table ## ## @strong{Equations} ## @example ## @group ## Es = Tl * E * Tr ## As = Tl * A * Tr ## Bs = Tl * B ## Cs = C * Tr ## Ds = D ## @end group ## @end example ## ## For proper state-space models, @var{Tl} and @var{Tr} are inverse of each other. ## ## @strong{Algorithm}@* ## Uses SLICOT TB01ID and TG01AD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.}. ## @end deftypefn ## Author: Lukas Reichlin ## Created: June 2011 ## Version: 0.2 function [retsys, varargout] = prescale (sys) if (nargin != 1) print_usage (); endif if (! isa (sys, "ss")) warning ("prescale: system not in state-space form"); sys = ss (sys); endif [retsys, lscale, rscale] = __prescale__ (sys); if (nargout > 1) varargout{1} = struct ("SL", lscale, "SR", rscale); endif endfunction ## Scaling of state-space models, direct access to TB01ID %!shared Ao, Bo, Co, SCALEo, MAXREDo, Ae, Be, Ce, SCALEe, MAXREDe %! A = [ 0.0 1.0000e+000 0.0 0.0 0.0 %! -1.5800e+006 -1.2570e+003 0.0 0.0 0.0 %! 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011 %! 0.0 0.0 0.0 0.0 1.0000e+000 %! 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000 ]; %! %! B = [ 0.0 0.0 %! 1.1030e+002 0.0 %! 0.0 0.0 %! 0.0 0.0 %! 0.0 8.3330e-003 ]; %! %! C = [ 1.0000e+000 0.0 0.0 0.0 0.0 %! 0.0 0.0 1.0000e+000 0.0 0.0 %! 0.0 0.0 0.0 1.0000e+000 0.0 %! 6.6640e-001 0.0 -6.2000e-013 0.0 0.0 %! 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002 ]; %! %! MAXRED = 0.0; %! %! [Ao, Bo, Co, MAXREDo, SCALEo] = __sl_tb01id__ (A, B, C, MAXRED); %! %! Ae = [ 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00 %! -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00 %! 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03 %! 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03 %! 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01 ]; %! %! Be = [ 0.0000000D+00 0.0000000D+00 %! 0.1103000D+04 0.0000000D+00 %! 0.0000000D+00 0.0000000D+00 %! 0.0000000D+00 0.0000000D+00 %! 0.0000000D+00 0.8333000D+02 ]; %! %! Ce = [ 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 %! 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00 %! 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00 %! 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00 %! 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01 ]; %! %! SCALEe = [0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03 ]; %! %! MAXREDe = 0.3488E+10; %! %!assert (Ao, Ae, 1e-4); %!assert (Bo, Be, 1e-4); %!assert (Co, Ce, 1e-4); %!assert (MAXREDo, MAXREDe, 1e6); %!assert (SCALEo, SCALEe.', 1e-4); ## Scaling of descriptor state-space models, direct access to TG01AD %!shared Ao, Eo, Bo, Co, LSCALEo, RSCALEo, Ae, Ee, Be, Ce, LSCALEe, RSCALEe %! A = [ -1 0 0 0.003 %! 0 0 0.1000 0.02 %! 100 10 0 0.4 %! 0 0 0 0.0]; %! %! E = [ 1 0.2 0 0.0 %! 0 1 0 0.01 %! 300 90 6 0.3 %! 0 0 20 0.0]; %! %! B = [ 10 0 %! 0 0 %! 0 1000 %! 10000 10000]; %! %! C = [ -0.1 0.0 0.001 0.0 %! 0.0 0.01 -0.001 0.0001]; %! %! TRESH = 0.0; %! %! [Ao, Eo, Bo, Co, LSCALEo, RSCALEo] = __sl_tg01ad__ (A, E, B, C, TRESH); %! %! Ae = [ -1.0000 0.0000 0.0000 0.3000 %! 0.0000 0.0000 1.0000 2.0000 %! 1.0000 0.1000 0.0000 0.4000 %! 0.0000 0.0000 0.0000 0.0000]; %! %! Ee = [ 1.0000 0.2000 0.0000 0.0000 %! 0.0000 1.0000 0.0000 1.0000 %! 3.0000 0.9000 0.6000 0.3000 %! 0.0000 0.0000 0.2000 0.0000 ]; %! %! Be = [100.0000 0.0000 %! 0.0000 0.0000 %! 0.0000 100.0000 %! 100.0000 100.0000 ]; %! %! Ce = [ -0.0100 0.0000 0.0010 0.0000 %! 0.0000 0.0010 -0.0010 0.0010]; %! %! LSCALEe = [ 10.0000 10.0000 0.1000 0.0100 ]; %! %! RSCALEe = [ 0.1000 0.1000 1.0000 10.0000 ]; %! %!assert (Ao, Ae, 1e-4); %!assert (Eo, Ee, 1e-4); %!assert (Bo, Be, 1e-4); %!assert (Co, Ce, 1e-4); %!assert (LSCALEo, LSCALEe.', 1e-4); %!assert (RSCALEo, RSCALEe.', 1e-4); ## Scaling of state-space models, user function %!shared Ao, Bo, Co, INFOo, Ae, Be, Ce, SCALEe %! A = [ 0.0 1.0000e+000 0.0 0.0 0.0 %! -1.5800e+006 -1.2570e+003 0.0 0.0 0.0 %! 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011 %! 0.0 0.0 0.0 0.0 1.0000e+000 %! 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000 ]; %! %! B = [ 0.0 0.0 %! 1.1030e+002 0.0 %! 0.0 0.0 %! 0.0 0.0 %! 0.0 8.3330e-003 ]; %! %! C = [ 1.0000e+000 0.0 0.0 0.0 0.0 %! 0.0 0.0 1.0000e+000 0.0 0.0 %! 0.0 0.0 0.0 1.0000e+000 0.0 %! 6.6640e-001 0.0 -6.2000e-013 0.0 0.0 %! 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002 ]; %! %! SYS = ss (A, B, C); %! %! [SYSo, INFOo] = prescale (SYS); %! %! [Ao, Bo, Co] = ssdata (SYSo); %! %! Ae = [ 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00 %! -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00 %! 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03 %! 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03 %! 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01 ]; %! %! Be = [ 0.0000000D+00 0.0000000D+00 %! 0.1103000D+04 0.0000000D+00 %! 0.0000000D+00 0.0000000D+00 %! 0.0000000D+00 0.0000000D+00 %! 0.0000000D+00 0.8333000D+02 ]; %! %! Ce = [ 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 %! 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00 %! 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00 %! 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00 %! 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01 ]; %! %! SCALEe = [0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03 ]; %! %!assert (Ao, Ae, 1e-4); %!assert (Bo, Be, 1e-4); %!assert (Co, Ce, 1e-4); %!assert (INFOo.SL.^-1, SCALEe.', 1e-4); %!assert (INFOo.SR, SCALEe.', 1e-4); ## Scaling of descriptor state-space models, user function %!shared Ao, Eo, Bo, Co, INFOo, Ae, Ee, Be, Ce, LSCALEe, RSCALEe %! A = [ -1 0 0 0.003 %! 0 0 0.1000 0.02 %! 100 10 0 0.4 %! 0 0 0 0.0]; %! %! E = [ 1 0.2 0 0.0 %! 0 1 0 0.01 %! 300 90 6 0.3 %! 0 0 20 0.0]; %! %! B = [ 10 0 %! 0 0 %! 0 1000 %! 10000 10000]; %! %! C = [ -0.1 0.0 0.001 0.0 %! 0.0 0.01 -0.001 0.0001]; %! %! SYS = dss (A, B, C, [], E); %! %! [SYSo, INFOo] = prescale (SYS); %! %! [Ao, Bo, Co, ~, Eo] = dssdata (SYSo); %! %! Ae = [ -1.0000 0.0000 0.0000 0.3000 %! 0.0000 0.0000 1.0000 2.0000 %! 1.0000 0.1000 0.0000 0.4000 %! 0.0000 0.0000 0.0000 0.0000]; %! %! Ee = [ 1.0000 0.2000 0.0000 0.0000 %! 0.0000 1.0000 0.0000 1.0000 %! 3.0000 0.9000 0.6000 0.3000 %! 0.0000 0.0000 0.2000 0.0000 ]; %! %! Be = [100.0000 0.0000 %! 0.0000 0.0000 %! 0.0000 100.0000 %! 100.0000 100.0000 ]; %! %! Ce = [ -0.0100 0.0000 0.0010 0.0000 %! 0.0000 0.0010 -0.0010 0.0010]; %! %! LSCALEe = [ 10.0000 10.0000 0.1000 0.0100 ]; %! %! RSCALEe = [ 0.1000 0.1000 1.0000 10.0000 ]; %! %!assert (Ao, Ae, 1e-4); %!assert (Eo, Ee, 1e-4); %!assert (Bo, Be, 1e-4); %!assert (Co, Ce, 1e-4); %!assert (INFOo.SL, LSCALEe.', 1e-4); %!assert (INFOo.SR, RSCALEe.', 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/__lti_prune__.m0000644000000000000000000000013213450727360017506 xustar0030 mtime=1554231024.157412138 30 atime=1554231024.157412138 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/__lti_prune__.m0000644000175000017500000000524513450727360017755 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Submodel extraction and reordering for LTI objects. ## This file is part of the Model Abstraction Layer. ## For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function [lti, out_idx, in_idx] = __lti_prune__ (lti, out_idx, in_idx) if (ischar (out_idx) && ! strcmp (out_idx, ":")) # sys("grp", :) out_idx = {out_idx}; endif if (ischar (in_idx) && ! strcmp (in_idx, ":")) # sys(:, "grp") in_idx = {in_idx}; endif if (iscell (out_idx)) # sys({"grp1", "grp2"}, :) tmp = cellfun (@(x) __str2idx__ (lti.outgroup, lti.outname, x, "out"), out_idx, "uniformoutput", false); out_idx = vertcat (tmp{:}); endif if (iscell (in_idx)) # sys(:, {"grp1", "grp2"}) tmp = cellfun (@(x) __str2idx__ (lti.ingroup, lti.inname, x, "in"), in_idx, "uniformoutput", false); in_idx = vertcat (tmp{:}); endif if (numfields (lti.outgroup)) p = numel (lti.outname); # get size before pruning outnames! [lti.outgroup, empty] = structfun (@(x) __group_prune__ (x, out_idx, p), lti.outgroup, "uniformoutput", false); empty = cell2mat (struct2cell (empty)); fields = fieldnames (lti.outgroup); lti.outgroup = rmfield (lti.outgroup, fields(empty)); endif if (numfields (lti.ingroup)) m = numel (lti.inname); [lti.ingroup, empty] = structfun (@(x) __group_prune__ (x, in_idx, m), lti.ingroup, "uniformoutput", false); empty = cell2mat (struct2cell (empty)); fields = fieldnames (lti.ingroup); lti.ingroup = rmfield (lti.ingroup, fields(empty)); endif lti.outname = lti.outname(out_idx); lti.inname = lti.inname(in_idx); endfunction function [group, empty] = __group_prune__ (group, idx, n) lg = length (group); group = sparse (group, 1:lg, 1, n, lg); group = group(idx, :); [group, ~] = find (group); empty = isempty (group); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/plus.m0000644000000000000000000000013213450727360015674 xustar0030 mtime=1554231024.209414123 30 atime=1554231024.209414123 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/plus.m0000644000175000017500000000577313450727360016151 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Binary addition of @acronym{LTI} objects. If necessary, object conversion ## is done by sys_group. Used by Octave for "sys1 + sys2". ## Operation is also known as "parallel connection". ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function sys = plus (sys1, sys2) if (nargin != 2) # prevent sys = plus (sys1, sys2, sys3, ...) error ("lti: plus: this is a binary operator"); endif [p1, m1] = size (sys1); [p2, m2] = size (sys2); if (p1 != p2 || m1 != m2) error ("lti: plus: system dimensions incompatible: (%dx%d) + (%dx%d)", p1, m1, p2, m2); endif sys = __sys_group__ (sys1, sys2); in_scl = [eye(m1); eye(m2)]; out_scl = [eye(p1), eye(p2)]; sys = out_scl * sys * in_scl; endfunction ## Parallel inter-connection of two systems in state-space form ## Test from SLICOT AB05PD %!shared M, Me %! A1 = [ 1.0 0.0 -1.0 %! 0.0 -1.0 1.0 %! 1.0 1.0 2.0 ]; %! %! B1 = [ 1.0 1.0 0.0 %! 2.0 0.0 1.0 ].'; %! %! C1 = [ 3.0 -2.0 1.0 %! 0.0 1.0 0.0 ]; %! %! D1 = [ 1.0 0.0 %! 0.0 1.0 ]; %! %! A2 = [-3.0 0.0 0.0 %! 1.0 0.0 1.0 %! 0.0 -1.0 2.0 ]; %! %! B2 = [ 0.0 -1.0 0.0 %! 1.0 0.0 2.0 ].'; %! %! C2 = [ 1.0 1.0 0.0 %! 1.0 1.0 -1.0 ]; %! %! D2 = [ 1.0 1.0 %! 0.0 1.0 ]; %! %! sys1 = ss (A1, B1, C1, D1); %! sys2 = ss (A2, B2, C2, D2); %! sys = sys1 + sys2; %! [A, B, C, D] = ssdata (sys); %! M = [A, B; C, D]; %! %! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 %! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000 %! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000 %! 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ]; %! %! Be = [ 1.0000 2.0000 %! 1.0000 0.0000 %! 0.0000 1.0000 %! 0.0000 1.0000 %! -1.0000 0.0000 %! 0.0000 2.0000 ]; %! %! Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000 %! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ]; %! %! De = [ 2.0000 1.0000 %! 0.0000 2.0000 ]; %! %! Me = [Ae, Be; Ce, De]; %! %!assert (M, Me, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/uplus.m0000644000000000000000000000013213450727360016061 xustar0030 mtime=1554231024.229414888 30 atime=1554231024.229414888 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/uplus.m0000644000175000017500000000207113450727360016322 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Unary plus of @acronym{LTI} object. Used by Octave for "+sys". ## Author: Lukas Reichlin ## Created: June 2012 ## Version: 0.1 function sys = uplus (sys) if (nargin != 1) # prevent sys = uplus (sys1, sys2, sys3, ...) error ("lti: uplus: this is an unary operator"); endif endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/feedback.m0000644000000000000000000000013213450727360016435 xustar0030 mtime=1554231024.177412902 30 atime=1554231024.177412902 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/feedback.m0000644000175000017500000002027313450727360016702 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} feedback (@var{sys1}) ## @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{"+"}) ## @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{sys2}) ## @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{sys2}, @var{"+"}) ## @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{sys2}, @var{feedin}, @var{feedout}) ## @deftypefnx {Function File} {@var{sys} =} feedback (@var{sys1}, @var{sys2}, @var{feedin}, @var{feedout}, @var{"+"}) ## Feedback connection of two @acronym{LTI} models. ## ## @strong{Inputs} ## @table @var ## @item sys1 ## @acronym{LTI} model of forward transmission. @code{[p1, m1] = size (sys1)}. ## @item sys2 ## @acronym{LTI} model of backward transmission. ## If not specified, an identity matrix of appropriate size is taken. ## @item feedin ## Vector containing indices of inputs to @var{sys1} which are involved in the feedback loop. ## The number of @var{feedin} indices and outputs of @var{sys2} must be equal. ## If not specified, @code{1:m1} is taken. ## @item feedout ## Vector containing indices of outputs from @var{sys1} which are to be connected to @var{sys2}. ## The number of @var{feedout} indices and inputs of @var{sys2} must be equal. ## If not specified, @code{1:p1} is taken. ## @item "+" ## Positive feedback sign. If not specified, @var{"-"} for a negative feedback interconnection ## is assumed. @var{+1} and @var{-1} are possible as well, but only from the third argument ## onward due to ambiguity. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Resulting @acronym{LTI} model. ## @end table ## ## @strong{Block Diagram} ## @example ## @group ## u + +--------+ y ## ------>(+)----->| sys1 |-------+-------> ## ^ - +--------+ | ## | | ## | +--------+ | ## +-------| sys2 |<------+ ## +--------+ ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.7 function sys = feedback (sys1, sys2, feedin, feedout, fbsign = -1) [p1, m1] = size (sys1); switch (nargin) case 1 # sys = feedback (sys) if (p1 != m1) error ("feedback: argument must be a square system"); endif sys2 = eye (p1); feedin = 1 : m1; feedout = 1 : p1; case 2 if (ischar (sys2)) # sys = feedback (sys, "+") if (p1 != m1) error ("feedback: first argument must be a square system"); endif fbsign = __check_fbsign__ (sys2); sys2 = eye (p1); endif # sys = feedback (sys1, sys2) feedin = 1 : m1; feedout = 1 : p1; case 3 # sys = feedback (sys1, sys2, "+") fbsign = __check_fbsign__ (feedin); feedin = 1 : m1; feedout = 1 : p1; case 4 # sys = feedback (sys1, sys2, feedin, feedout) ## nothing needs to be done here ## case 4 required to prevent "otherwise" case 5 # sys = feedback (sys1, sys2, feedin, feedout, "+") fbsign = __check_fbsign__ (fbsign); otherwise print_usage (); endswitch if (ischar (feedin)) feedin = {feedin}; endif if (ischar (feedout)) feedout = {feedout}; endif if (iscell (feedin)) tmp = cellfun (@(x) __str2idx__ (sys1.ingroup, sys1.inname, x, "in"), feedin, "uniformoutput", false); feedin = vertcat (tmp{:}); endif if (iscell (feedout)) tmp = cellfun (@(x) __str2idx__ (sys1.outgroup, sys1.outname, x, "out"), feedout, "uniformoutput", false); feedout = vertcat (tmp{:}); endif if (! is_real_vector (feedin) || ! isequal (feedin, abs (fix (feedin)))) error ("feedback: require 'feedin' to be a vector of integers"); endif if (! is_real_vector (feedout) || ! isequal (feedout, abs (fix (feedout)))) error ("feedback: require 'feedout' to be a vector of integers"); endif [p2, m2] = size (sys2); l_feedin = length (feedin); l_feedout = length (feedout); if (l_feedin != p2) error ("feedback: feedin indices: %d, outputs sys2: %d", l_feedin, p2); endif if (l_feedout != m2) error ("feedback: feedout indices: %d, inputs sys2: %d", l_feedout, m2); endif if (any (feedin > m1 | feedin < 1)) error ("feedback: range of feedin indices exceeds dimensions of sys1"); endif if (any (feedout > p1 | feedout < 1)) error ("feedback: range of feedout indices exceeds dimensions of sys1"); endif M11 = zeros (m1, p1); M22 = zeros (m2, p2); M12 = full (sparse (feedin, 1:l_feedin, fbsign, m1, p2)); M21 = full (sparse (1:l_feedout, feedout, 1, m2, p1)); ## NOTE: for-loops do NOT the same as ## M12(feedin, 1:l_feedin) = fbsign; ## M21(1:l_feedout, feedout) = 1; ## ## M12 = zeros (m1, p2); ## M21 = zeros (m2, p1); ## ## for k = 1 : l_feedin ## M12(feedin(k), k) = fbsign; ## endfor ## ## for k = 1 : l_feedout ## M21(k, feedout(k)) = 1; ## endfor M = [M11, M12; M21, M22]; in_idx = 1 : m1; out_idx = 1 : p1; sys = __sys_group__ (sys1, sys2); sys = __sys_connect__ (sys, M); sys = __sys_prune__ (sys, out_idx, in_idx); endfunction function fbsign = __check_fbsign__ (fbsign) if (is_real_scalar (fbsign)) fbsign = sign (fbsign); elseif (ischar (fbsign)) if (strcmp (fbsign, "+")) fbsign = +1; elseif (strcmp (fbsign, "-")) fbsign = -1; else error ("feedback: invalid feedback sign string"); endif else error ("feedback: invalid feedback sign type"); endif endfunction ## Feedback inter-connection of two systems in state-space form ## Test from SLICOT AB05ND %!shared M, Me %! A1 = [ 1.0 0.0 -1.0 %! 0.0 -1.0 1.0 %! 1.0 1.0 2.0 ]; %! %! B1 = [ 1.0 1.0 0.0 %! 2.0 0.0 1.0 ].'; %! %! C1 = [ 3.0 -2.0 1.0 %! 0.0 1.0 0.0 ]; %! %! D1 = [ 1.0 0.0 %! 0.0 1.0 ]; %! %! A2 = [-3.0 0.0 0.0 %! 1.0 0.0 1.0 %! 0.0 -1.0 2.0 ]; %! %! B2 = [ 0.0 -1.0 0.0 %! 1.0 0.0 2.0 ].'; %! %! C2 = [ 1.0 1.0 0.0 %! 1.0 1.0 -1.0 ]; %! %! D2 = [ 1.0 1.0 %! 0.0 1.0 ]; %! %! sys1 = ss (A1, B1, C1, D1); %! sys2 = ss (A2, B2, C2, D2); %! sys = feedback (sys1, sys2); %! [A, B, C, D] = ssdata (sys); %! M = [A, B; C, D]; %! %! Ae = [-0.5000 -0.2500 -1.5000 -1.2500 -1.2500 0.7500 %! -1.5000 -0.2500 0.5000 -0.2500 -0.2500 -0.2500 %! 1.0000 0.5000 2.0000 -0.5000 -0.5000 0.5000 %! 0.0000 0.5000 0.0000 -3.5000 -0.5000 0.5000 %! -1.5000 1.2500 -0.5000 1.2500 0.2500 1.2500 %! 0.0000 1.0000 0.0000 -1.0000 -2.0000 3.0000 ]; %! %! Be = [ 0.5000 0.7500 %! 0.5000 -0.2500 %! 0.0000 0.5000 %! 0.0000 0.5000 %! -0.5000 0.2500 %! 0.0000 1.0000 ]; %! %! Ce = [ 1.5000 -1.2500 0.5000 -0.2500 -0.2500 -0.2500 %! 0.0000 0.5000 0.0000 -0.5000 -0.5000 0.5000 ]; %! %! De = [ 0.5000 -0.2500 %! 0.0000 0.5000 ]; %! %! Me = [Ae, Be; Ce, De]; %! %!assert (M, Me, 1e-4); ## sensitivity function %!shared S1, S2 %! P = ss (-2, 3, 4, 5); # meaningless numbers %! C = ss (-1, 1, 1, 0); # ditto %! L = P * C; %! I = eye (size (L)); %! S1 = feedback (I, L); %! S2 = inv (I + L); %!assert (S1.a, S2.a, 1e-4); %!assert (S1.b, S2.b, 1e-4); %!assert (S1.c, S2.c, 1e-4); %!assert (S1.d, S2.d, 1e-4); control-3.2.0/inst/@lti/PaxHeaders.3947/__sys_keys__.m0000644000000000000000000000013213450727360017356 xustar0030 mtime=1554231024.157412138 30 atime=1554231024.157412138 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/__sys_keys__.m0000644000175000017500000000217013450727360017617 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Stub function whose sole purpose is that function __lti_keys__ ## terminates correctly for pure LTI objects. This is needed in ## LTI subclasses for calls like @code{sys.lti.tsam}. For internal use only. ## Author: Lukas Reichlin ## Created: October 2015 ## Version: 0.1 function [keys, vals] = __sys_keys__ (sys) keys = vals = cell (0, 1); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/set.m0000644000000000000000000000013213450727360015504 xustar0030 mtime=1554231024.217414429 30 atime=1554231024.217414429 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/set.m0000644000175000017500000001242313450727360015747 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {} set (@var{sys}) ## @deftypefnx {Function File} {} set (@var{sys}, @var{"key"}, @var{value}, @dots{}) ## @deftypefnx {Function File} {@var{retsys} =} set (@var{sys}, @var{"key"}, @var{value}, @dots{}) ## Set or modify properties of @acronym{LTI} objects. ## If no return argument @var{retsys} is specified, the modified @acronym{LTI} object is stored ## in input argument @var{sys}. @command{set} can handle multiple properties in one call: ## @code{set (sys, 'key1', val1, 'key2', val2, 'key3', val3)}. ## @code{set (sys)} prints a list of the object's key names. ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.7 function retsys = set (sys, varargin) if (nargin == 1) # set (sys), sys = set (sys) [keys, vals] = __lti_keys__ (sys); nrows = numel (keys); str = strjust (strvcat (keys), "right"); str = horzcat (repmat (" ", nrows, 1), str, repmat (": ", nrows, 1), strvcat (vals)); disp (str); if (nargout != 0) # function sys = set (sys, varargin) retsys = sys; # would lead to unwanted output when using endif # set (sys) else # set (sys, "key1", val1, ...), sys = set (sys, "key1", val1, ...) if (! isa (sys, "lti")); print_usage (); endif if (rem (nargin-1, 2)) error ("lti: set: keys and values must come in pairs"); endif [p, m] = size (sys); keys = __lti_keys__ (sys, true); for k = 1 : 2 : (nargin-1) key = __match_key__ (varargin{k}, keys, [class(sys), ": set"]); val = varargin{k+1}; switch (key) case {"inname", "inputname"} sys.inname = __adjust_labels__ (val, m); case {"outname", "outputname"} sys.outname = __adjust_labels__ (val, p); case "tsam" if (issample (val, -1) && isdt (sys)) sys.tsam = val; elseif (is_real_scalar (val) && val == 0 && isct (sys)) sys.tsam = 0; elseif (is_real_matrix (val) && isempty (val) && isdt (sys)) sys.tsam = -1; else error ("lti: set: invalid sampling time"); endif case {"ingroup", "inputgroup"} if (isstruct (val) && all (size (val) == 1) ... && all (structfun (@(x) is_group_idx (x, m), val))) empty = structfun (@isempty, val); fields = fieldnames (val); sys.ingroup = rmfield (val, fields(empty)); else error ("lti: set: key 'ingroup' requires a scalar struct containing valid input indices in the range [1, %d]", m); endif case {"outgroup", "outputgroup"} if (isstruct (val) && all (size (val) == 1) ... && all (structfun (@(x) is_group_idx (x, p), val))) empty = structfun (@isempty, val); fields = fieldnames (val); sys.outgroup = rmfield (val, fields(empty)); else error ("lti: set: key 'outgroup' requires a scalar struct containing valid output indices in the range [1, %d]", p); endif case "name" if (ischar (val) && ndims (val) == 2 && (rows (val) == 1 || isempty (val))) sys.name = val; else error ("lti: set: key 'name' requires a string"); endif case "notes" if (iscellstr (val)) sys.notes = val; elseif (ischar (val)) sys.notes = {val}; else error ("lti: set: key 'notes' requires string or cell of strings"); endif case "userdata" sys.userdata = val; case "lti" if (isa (val, "lti")) lti_keys = __lti_keys__ (val, false, false); n = numel (lti_keys); lti_vals = cell (n, 1); [lti_vals{1:n}] = get (val, lti_keys{:}); for k = 1:n try sys = set (sys, lti_keys{k}, lti_vals{k}); end_try_catch endfor else error ("lti: set: key 'lti' requires an LTI model"); endif otherwise sys = __set__ (sys, key, val); endswitch endfor if (nargout == 0) # set (sys, "key1", val1, ...) assignin ("caller", inputname (1), sys); else # sys = set (sys, "key1", val1, ...) retsys = sys; endif endif endfunction function bool = is_group_idx (idx, n) bool = (isempty (idx) || (is_real_vector (idx) && all (idx > 0) && all (idx <= n) && all (abs (fix (idx)) == idx))); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/subsasgn.m0000644000000000000000000000013213450727360016536 xustar0030 mtime=1554231024.221414582 30 atime=1554231024.221414582 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/subsasgn.m0000644000175000017500000000376613450727360017013 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Subscripted assignment for @acronym{LTI} objects. ## Used by Octave for "sys.property = value". ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function sys = subsasgn (sys, idx, val) ## TODO: enable *more* stuff like sys.a(2, 1:3) = [4, 5, 6] ## warning ("lti: subsasgn: do not use subsasgn for development"); switch (idx(1).type) case "." if (length (idx) == 1) sys = set (sys, idx.subs, val); else key = idx(1).subs; sys = set (sys, key, subsasgn (get (sys, key), idx(2:end), val)); endif case "()" if (numel (idx(1).subs) > 2) # sys(:, :, ...) = ltisys ## bug #45314 error (["lti: subsasgn: arrays of linear models are not supported (yet). ", ... "as a workaround, try to use cells of LTI models instead."]); else # sys(out_idx, in_idx).a = mat error (["lti: subsasgn: invalid subscripted assignment type '()'. ", ... "you must select an LTI key first, i.e. sys.keyname(...) = ..."]); endif otherwise error ("lti: subsasgn: invalid subscripted assignment type '%s'", idx(1).type); endswitch endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/size_equal.m0000644000000000000000000000013213450727360017052 xustar0030 mtime=1554231024.217414429 30 atime=1554231024.217414429 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/size_equal.m0000644000175000017500000000244013450727360017313 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{bool} =} size_equal (@var{a}, @var{b}, @dots{}) ## Return true if @acronym{LTI} models (and matrices) @var{a}, @var{b}, @dots{} ## are of equal size and false otherwise. ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2012 ## Version: 0.1 function bool = size_equal (varargin) s = cellfun (@size, varargin, "uniformoutput", false); bool = (nargin == 1 || isequal (s{:})); # isequal errors out with only 1 argument, nargin==0 handled by built-in size_equal endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/lft.m0000644000000000000000000000013213450727360015476 xustar0030 mtime=1554231024.193413513 30 atime=1554231024.193413513 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/lft.m0000644000175000017500000001131513450727360015740 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} lft (@var{sys1}, @var{sys2}) ## @deftypefnx {Function File} {@var{sys} =} lft (@var{sys1}, @var{sys2}, @var{nu}, @var{ny}) ## Linear fractional tranformation, also known as Redheffer star product. ## ## @strong{Inputs} ## @table @var ## @item sys1 ## Upper @acronym{LTI} model. ## @item sys2 ## Lower @acronym{LTI} model. ## @item nu ## The last nu inputs of @var{sys1} are connected with the first nu outputs of @var{sys2}. ## If not specified, @code{min (m1, p2)} is taken. ## @item ny ## The last ny outputs of @var{sys1} are connected with the first ny inputs of @var{sys2}. ## If not specified, @code{min (p1, m2)} is taken. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Resulting @acronym{LTI} model. ## @end table ## ## @strong{Block Diagram} ## @example ## @group ## .............sys.............. ## : +--------+ : ## w1 ------------>| |------------> z1 ## : | sys1 | : ## : u +---->| |-----+ y : ## : | +--------+ | : Lower LFT ## : | | : ## : | +--------+ | : lft (sys1, sys2) ## : +-----| sys2 |<----+ : ## : +--------+ : ## :............................: ## @end group ## @end example ## @example ## @group ## .............sys.............. ## : +--------+ : ## : u +---->| sys1 |-----+ y : ## : | +--------+ | : Upper LFT ## : | | : ## : | +--------+ | : lft (sys1, sys2) ## : +-----| |<----+ : ## : | sys2 | : ## z2 <------------| |<------------ w2 ## : +--------+ : ## :............................: ## @end group ## @end example ## @example ## @group ## .............sys.............. ## : +--------+ : ## w1 ------------>| |------------> z1 ## : | sys1 | : ## : u +---->| |-----+ y : ## : | +--------+ | : ## : | | : lft (sys1, sys2, nu, ny) ## : | +--------+ | : ## : +-----| |<----+ : ## : | sys2 | : ## z2 <------------| |<------------ w2 ## : +--------+ : ## :............................: ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.2 function sys = lft (sys1, sys2, nu, ny) if (nargin != 2 && nargin != 4) print_usage (); endif ## object conversion done by sys_group if necessary [p1, m1] = size (sys1); [p2, m2] = size (sys2); nu_max = min (m1, p2); ny_max = min (m2, p1); if (nargin == 2) # sys = lft (sys1, sys2) nu = nu_max; ny = ny_max; else # sys = lft (sys1, sys2, nu, ny) if (! is_real_scalar (nu) || nu < 0) error ("lft: argument 'nu' must be a positive integer"); endif if (! is_real_scalar (ny) || ny < 0) error ("lft: argument 'ny' must be a positive integer"); endif if (nu > nu_max) error ("lft: argument 'nu' (%d) must be at most %d", nu, nu_max); endif if (ny > ny_max) error ("lft: argument 'ny' (%d) must be at most %d", ny, ny_max); endif endif M11 = zeros (m1, p1); M12 = [zeros(m1-nu, p2); eye(nu), zeros(nu, p2-nu)]; M21 = [zeros(ny, p1-ny), eye(ny); zeros(m2-ny, p1)]; M22 = zeros (m2, p2); M = [M11, M12; M21, M22]; in_idx = [1 : (m1-nu), m1 + (ny+1 : m2)]; out_idx = [1 : (p1-ny), p1 + (nu+1 : p2)]; sys = __sys_group__ (sys1, sys2); sys = __sys_connect__ (sys, M); sys = __sys_prune__ (sys, out_idx, in_idx); [p, m] = size (sys); if (m == 0) warning ("lft: resulting system has no inputs"); endif if (p == 0) warning ("lft: resulting system has no outputs"); endif endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/tfdata.m0000644000000000000000000000013213450727360016154 xustar0030 mtime=1554231024.225414735 30 atime=1554231024.225414735 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/tfdata.m0000644000175000017500000000544313450727360016423 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{num}, @var{den}, @var{tsam}] =} tfdata (@var{sys}) ## @deftypefnx {Function File} {[@var{num}, @var{den}, @var{tsam}] =} tfdata (@var{sys}, @var{"vector"}) ## @deftypefnx {Function File} {[@var{num}, @var{den}, @var{tsam}] =} tfdata (@var{sys}, @var{"tfpoly"}) ## Access transfer function data. ## Argument @var{sys} is not limited to transfer function models. ## If @var{sys} is not a transfer function, it is converted automatically. ## ## @strong{Inputs} ## @table @var ## @item sys ## Any type of @acronym{LTI} model. ## @item "v", "vector" ## For SISO models, return @var{num} and @var{den} directly as column vectors ## instead of cells containing a single column vector. ## @end table ## ## @strong{Outputs} ## @table @var ## @item num ## Cell of numerator(s). Each numerator is a row vector ## containing the coefficients of the polynomial in descending powers of ## the transfer function variable. ## num@{i,j@} contains the numerator polynomial from input j to output i. ## In the SISO case, a single vector is possible as well. ## @item den ## Cell of denominator(s). Each denominator is a row vector ## containing the coefficients of the polynomial in descending powers of ## the transfer function variable. ## den@{i,j@} contains the denominator polynomial from input j to output i. ## In the SISO case, a single vector is possible as well. ## @item tsam ## Sampling time in seconds. If @var{sys} is a continuous-time model, ## a zero is returned. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.5 function [num, den, tsam] = tfdata (sys, rtype = "cell") if (! isa (sys, "tf")) sys = tf (sys); endif [num, den] = __sys_data__ (sys); tsam = sys.tsam; if (! strncmpi (rtype, "t", 1)) # != tfpoly num = cellfun (@get, num, "uniformoutput", false); den = cellfun (@get, den, "uniformoutput", false); endif if (strncmpi (rtype, "v", 1) && issiso (sys)) # == vector num = num{1}; den = den{1}; endif endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/vertcat.m0000644000000000000000000000013213450727360016361 xustar0030 mtime=1554231024.229414888 30 atime=1554231024.229414888 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/vertcat.m0000644000175000017500000000262413450727360016626 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Vertical concatenation of @acronym{LTI} objects. If necessary, object conversion ## is done by sys_group. Used by Octave for "[sys1; sys2]". ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function sys = vertcat (sys, varargin) for k = 1 : (nargin-1) sys1 = sys; sys2 = varargin{k}; [p1, m1] = size (sys1); [p2, m2] = size (sys2); if (m1 != m2) error ("lti: vertcat: number of system inputs incompatible: [(%dx%d); (%dx%d)]", p1, m1, p2, m2); endif sys = __sys_group__ (sys1, sys2); in_scl = [eye(m1); eye(m2)]; sys = sys * in_scl; endfor endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/isct.m0000644000000000000000000000013013450727360015651 xustar0029 mtime=1554231024.18941336 29 atime=1554231024.18941336 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/isct.m0000644000175000017500000000261313450727360016116 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{bool} =} isct (@var{sys}) ## Determine whether @acronym{LTI} model is a continuous-time system. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. ## @end table ## ## @strong{Outputs} ## @table @var ## @item bool = 0 ## @var{sys} is a discrete-time system. ## @item bool = 1 ## @var{sys} is a continuous-time system or a static gain. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function bool = isct (ltisys) if (nargin != 1) print_usage (); endif bool = (ltisys.tsam == 0 || ltisys.tsam == -2); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/isstable.m0000644000000000000000000000013213450727360016517 xustar0030 mtime=1554231024.193413513 30 atime=1554231024.193413513 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/isstable.m0000644000175000017500000000331713450727360016764 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{bool} =} isstable (@var{sys}) ## @deftypefnx {Function File} {@var{bool} =} isstable (@var{sys}, @var{tol}) ## Determine whether @acronym{LTI} system is stable. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. ## @item tol ## Optional tolerance for stability. ## @var{tol} must be a real-valued, non-negative scalar. ## Default value is 0. ## @end table ## ## @strong{Outputs} ## @table @var ## @item bool ## True if the system is stable and false otherwise. ## @end table ## ## @example ## @group ## real (p) < -tol*(1 + abs (p)) continuous-time ## abs (p) < 1 - tol discrete-time ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.2 function bool = isstable (sys, tol = 0) if (nargin > 2) print_usage (); endif pol = pole (sys); ct = isct (sys); bool = __is_stable__ (pol, ct, tol); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/ctranspose.m0000644000000000000000000000013213450727360017072 xustar0030 mtime=1554231024.165412444 30 atime=1554231024.165412444 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/ctranspose.m0000644000175000017500000000334313450727360017336 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Conjugate transpose or pertransposition of @acronym{LTI} objects. ## Used by Octave for "sys'". ## For a transfer-function matrix G, G' denotes the conjugate ## of G given by G.'(-s) for a continuous-time system or G.'(1/z) ## for a discrete-time system. ## The frequency response of the pertransposition of G is the ## Hermitian (conjugate) transpose of G(jw), i.e. ## freqresp (G', w) = freqresp (G, w)'. ## @strong{WARNING:} Do @strong{NOT} use this for dual problems, ## use the transpose "sys.'" (note the dot) instead. ## Author: Lukas Reichlin ## Created: May 2012 ## Version: 0.2 function sys = ctranspose (sys) if (nargin != 1) # prevent sys = ctranspose (sys1, sys2, sys3, ...) error ("lti: ctranspose: this is an unary operator"); endif [p, m] = size (sys); ct = isct (sys); sys = __ctranspose__ (sys, ct); sys.inname = repmat ({""}, p, 1); sys.outname = repmat ({""}, m, 1); sys.ingroup = struct (); sys.outgroup = struct (); endfunction control-3.2.0/inst/@lti/PaxHeaders.3947/pole.m0000644000000000000000000000013213450727360015650 xustar0030 mtime=1554231024.209414123 30 atime=1554231024.209414123 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/pole.m0000644000175000017500000001011413450727360016106 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{p} =} pole (@var{sys}) ## Compute poles of @acronym{LTI} system. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @end table ## ## @strong{Outputs} ## @table @var ## @item p ## Poles of @var{sys}. ## @end table ## ## @strong{Algorithm}@* ## For (descriptor) state-space models and system/state matrices, @command{pole} ## relies on Octave's @command{eig}. ## For @acronym{SISO} transfer functions, @command{pole} ## uses Octave's @command{roots}. ## @acronym{MIMO} transfer functions are converted to ## a @emph{minimal} state-space representation for the ## computation of the poles. ## ## @end deftypefn ## Author: Lukas Reichlin ## Contributor: Mark Bronsfeld ## Created: October 2009 ## Version: 0.2 function pol = pole (sys) if(nargin == 1) # pole(sys) if(!(isa(sys, "lti")) && issquare(sys)) pol = eig(sys); elseif(isa(sys, "lti")) pol = __pole__(sys); else error("pole: argument must be an LTI system"); endif else print_usage(); endif endfunction %!shared pol_exp, pol_obs %! A = [-1, 0, 0; %! 0, -2, 0; %! 0, 0, -3]; %! pol_exp = [-3; %! -2; %! -1]; %! pol_obs = pole (ss (A, ones (3, 1))); %! %!assert(pol_obs, pol_exp, 0); ## Poles of descriptor state-space model %!shared pol, pol_exp, infp, kronr, kronl, infp_exp, kronr_exp, kronl_exp %! A = [ 1 0 0 0 0 0 0 0 0 %! 0 1 0 0 0 0 0 0 0 %! 0 0 1 0 0 0 0 0 0 %! 0 0 0 1 0 0 0 0 0 %! 0 0 0 0 1 0 0 0 0 %! 0 0 0 0 0 1 0 0 0 %! 0 0 0 0 0 0 1 0 0 %! 0 0 0 0 0 0 0 1 0 %! 0 0 0 0 0 0 0 0 1 ]; %! %! E = [ 0 0 0 0 0 0 0 0 0 %! 1 0 0 0 0 0 0 0 0 %! 0 1 0 0 0 0 0 0 0 %! 0 0 0 0 0 0 0 0 0 %! 0 0 0 1 0 0 0 0 0 %! 0 0 0 0 1 0 0 0 0 %! 0 0 0 0 0 0 0 0 0 %! 0 0 0 0 0 0 1 0 0 %! 0 0 0 0 0 0 0 1 0 ]; %! %! B = [ -1 0 0 %! 0 0 0 %! 0 0 0 %! 0 -1 0 %! 0 0 0 %! 0 0 0 %! 0 0 -1 %! 0 0 0 %! 0 0 0 ]; %! %! C = [ 0 1 1 0 3 4 0 0 2 %! 0 1 0 0 4 0 0 2 0 %! 0 0 1 0 -1 4 0 -2 2 ]; %! %! D = [ 1 2 -2 %! 0 -1 -2 %! 0 0 0 ]; %! %! sys = dss (A, B, C, D, E, "scaled", true); %! [pol, ~, infp, kronr, kronl] = __sl_ag08bd__ (A, E, [], [], [], true); %! %! pol_exp = zeros (0,1); %! %! infp_exp = [0, 3]; %! kronr_exp = zeros (1,0); %! kronl_exp = zeros (1,0); %! %!assert (pol, pol_exp, 1e-4); %!assert (infp, infp_exp); %!assert (kronr, kronr_exp); %!assert (kronl, kronl_exp); control-3.2.0/inst/@lti/PaxHeaders.3947/zpkdata.m0000644000000000000000000000013013450727360016345 xustar0029 mtime=1554231024.23341504 29 atime=1554231024.23341504 30 ctime=1554231028.525576056 control-3.2.0/inst/@lti/zpkdata.m0000644000175000017500000000427213450727360016615 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{z}, @var{p}, @var{k}, @var{tsam}] =} zpkdata (@var{sys}) ## @deftypefnx {Function File} {[@var{z}, @var{p}, @var{k}, @var{tsam}] =} zpkdata (@var{sys}, @var{"v"}) ## Access zero-pole-gain data. ## ## @strong{Inputs} ## @table @var ## @item sys ## Any type of @acronym{LTI} model. ## @item "v", "vector" ## For SISO models, return @var{z} and @var{p} directly as column vectors ## instead of cells containing a single column vector. ## @end table ## ## @strong{Outputs} ## @table @var ## @item z ## Cell of column vectors containing the zeros for each channel. ## z@{i,j@} contains the zeros from input j to output i. ## @item p ## Cell of column vectors containing the poles for each channel. ## p@{i,j@} contains the poles from input j to output i. ## @item k ## Matrix containing the gains for each channel. ## k(i,j) contains the gain from input j to output i. ## @item tsam ## Sampling time in seconds. If @var{sys} is a continuous-time model, ## a zero is returned. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2011 ## Version: 0.1 function [z, p, k, tsam] = zpkdata (sys, rtype = "cell") [num, den, tsam] = tfdata (sys); z = cellfun (@roots, num, "uniformoutput", false); p = cellfun (@roots, den, "uniformoutput", false); k = cellfun (@(n,d) n(1)/d(1), num, den); if (strncmpi (rtype, "v", 1) && issiso (sys)) z = z{1}; p = p{1}; endif endfunction control-3.2.0/inst/PaxHeaders.3947/dare.m0000644000000000000000000000013213450727360014734 xustar0030 mtime=1554231024.457423593 30 atime=1554231024.457423593 30 ctime=1554231028.525576056 control-3.2.0/inst/dare.m0000644000175000017500000001373213450727360015203 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{x}, @var{l}, @var{g}] =} dare (@var{a}, @var{b}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} dare (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}) ## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} dare (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e}) ## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} dare (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e}) ## Solve discrete-time algebraic Riccati equation (ARE). ## ## @strong{Inputs} ## @table @var ## @item a ## Real matrix (n-by-n). ## @item b ## Real matrix (n-by-m). ## @item q ## Real matrix (n-by-n). ## @item r ## Real matrix (m-by-m). ## @item s ## Optional real matrix (n-by-m). If @var{s} is not specified, a zero matrix is assumed. ## @item e ## Optional descriptor matrix (n-by-n). If @var{e} is not specified, an identity matrix is assumed. ## @end table ## ## @strong{Outputs} ## @table @var ## @item x ## Unique stabilizing solution of the discrete-time Riccati equation (n-by-n). ## @item l ## Closed-loop poles (n-by-1). ## @item g ## Corresponding gain matrix (m-by-n). ## @end table ## ## @strong{Equations} ## @example ## @group ## -1 ## A'XA - X - A'XB (B'XB + R) B'XA + Q = 0 ## ## -1 ## A'XA - X - (A'XB + S) (B'XB + R) (B'XA + S') + Q = 0 ## ## -1 ## G = (B'XB + R) B'XA ## ## -1 ## G = (B'XB + R) (B'XA + S') ## ## L = eig (A - B*G) ## @end group ## @end example ## @example ## @group ## -1 ## A'XA - E'XE - A'XB (B'XB + R) B'XA + Q = 0 ## ## -1 ## A'XA - E'XE - (A'XB + S) (B'XB + R) (B'XA + S') + Q = 0 ## ## -1 ## G = (B'XB + R) B'XA ## ## -1 ## G = (B'XB + R) (B'XA + S') ## ## L = eig (A - B*G, E) ## @end group ## @end example ## ## @strong{Algorithm}@* ## Uses SLICOT SB02OD and SG02AD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @seealso{care, lqr, dlqr, kalman} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.5.1 function [x, l, g] = dare (a, b, q, r, s = [], e = []) ## TODO: extract feedback matrix g from SB02OD (and SG02AD) if (nargin < 4 || nargin > 6) print_usage (); endif if (! is_real_square_matrix (a, q, r)) ## error ("dare: a, q, r must be real and square"); error ("dare: %s, %s, %s must be real and square", ... inputname (1), inputname (3), inputname (4)); endif if (! is_real_matrix (b) || rows (a) != rows (b)) ## error ("dare: a and b must have the same number of rows"); error ("dare: %s and %s must have the same number of rows", ... inputname (1), inputname (2)); endif if (columns (r) != columns (b)) ## error ("dare: b and r must have the same number of columns"); error ("dare: %s and %s must have the same number of columns", ... inputname (2), inputname (4)); endif if (! is_real_matrix (s) && ! size_equal (s, b)) ## error ("dare: s(%dx%d) must be real and identically dimensioned with b(%dx%d)", ## rows (s), columns (s), rows (b), columns (b)); error ("dare: %s(%dx%d) must be real and identically dimensioned with %s(%dx%d)", ... inputname (5), rows (s), columns (s), inputname (2), rows (b), columns (b)); endif if (! isempty (e) && (! is_real_square_matrix (e) || ! size_equal (e, a))) ## error ("dare: a and e must have the same number of rows"); error ("dare: %s and %s must have the same number of rows", ... inputname (1), inputname (6)); endif ## check stabilizability if (! isstabilizable (a, b, e, [], 1)) ## error ("dare: (a, b) not stabilizable"); error ("dare: (%s, %s) not stabilizable", ... inputname (1), inputname (2)); endif ## check positive semi-definiteness if (isempty (s)) t = zeros (size (b)); else t = s; endif m = [q, t; t.', r]; if (isdefinite (m) < 0) ## error ("dare: require [q, s; s.', r] >= 0"); error ("dare: require [%s, %s; %s.', %s] >= 0", ... inputname (3), inputname (5), inputname (5), inputname (4)); endif ## solve the riccati equation if (isempty (e)) if (isempty (s)) [x, l] = __sl_sb02od__ (a, b, q, r, b, true, false); g = (r + b.'*x*b) \ (b.'*x*a); # gain matrix else [x, l] = __sl_sb02od__ (a, b, q, r, s, true, true); g = (r + b.'*x*b) \ (b.'*x*a + s.'); # gain matrix endif else if (isempty (s)) [x, l] = __sl_sg02ad__ (a, e, b, q, r, b, true, false); g = (r + b.'*x*b) \ (b.'*x*a); # gain matrix else [x, l] = __sl_sg02ad__ (a, e, b, q, r, s, true, true); g = (r + b.'*x*b) \ (b.'*x*a + s.'); # gain matrix endif endif endfunction %!shared x, l, g, xe, le, ge %! a = [ 0.4 1.7 %! 0.9 3.8]; %! %! b = [ 0.8 %! 2.1]; %! %! c = [ 1 -1]; %! %! r = 3; %! %! [x, l, g] = dare (a, b, c.'*c, r); %! %! xe = [ 1.5354 1.2623 %! 1.2623 10.5596]; %! %! le = [-0.0022 %! 0.2454]; %! %! ge = [ 0.4092 1.7283]; %! %!assert (x, xe, 1e-4); %!assert (sort (l), sort (le), 1e-4); %!assert (g, ge, 1e-4); ## TODO: add more tests (nonempty s and/or e) control-3.2.0/inst/PaxHeaders.3947/test_control.m0000644000000000000000000000013213450727360016540 xustar0030 mtime=1554231024.593428785 30 atime=1554231024.593428785 30 ctime=1554231028.525576056 control-3.2.0/inst/test_control.m0000644000175000017500000000617113450727360017006 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Script File} {} test_control ## Execute all available tests at once. ## The Octave control package is based on the @uref{http://www.slicot.org, @acronym{SLICOT}} library. ## @acronym{SLICOT} needs @acronym{BLAS} and @acronym{LAPACK} libraries which are also prerequisites ## for Octave itself. ## In case of failing tests, it is highly recommended to use ## @uref{http://www.netlib.org/blas/, Netlib's reference @acronym{BLAS}} and ## @uref{http://www.netlib.org/lapack/, @acronym{LAPACK}} ## for building Octave. Using @acronym{ATLAS} may lead to sign changes ## in some entries of the state-space matrices. ## In general, these sign changes are not 'wrong' and can be regarded as ## the result of state transformations. Such state transformations ## (but not input/output transformations) have no influence on the ## input-output behaviour of the system. For better numerics, ## the control package uses such transformations by default when ## calculating the frequency responses and a few other things. ## However, arguments like the Hankel singular Values (@acronym{HSV}) must not change. ## Differing @acronym{HSV}s and failing algorithms are known for using Framework Accelerate ## from Mac OS X 10.7. ## @end deftypefn ## Author: Lukas Reichlin ## Created: May 2010 ## Version: 0.6 ## test collection test ltimodels ## LTI methods test @lti/c2d test @lti/connect test @lti/d2c test @lti/d2d test @lti/feedback test @lti/horzcat test @lti/inv test @lti/isminimumphase test @lti/minreal test @lti/mtimes test @lti/norm test @lti/plus test @lti/pole test @lti/prescale test @lti/sminreal test @lti/subsref test @lti/zero ## robust control test h2syn test hinfsyn test ncfsyn ## ARE solvers test care test dare test kalman ## Lyapunov test covar test dlyap ## test dlyapchol # TODO: add tests test gram test lyap test lyapchol ## model order reduction test bstmodred test btamodred test hnamodred ## test spamodred # TODO: create test case ## controller order reduction test btaconred test cfconred test fwcfconred ## test spaconred # TODO: create test case ## various oct-files test ctrbf test hsvd test place ## various m-files test db2mag test ctrb test filt test initial test issample test mag2db test margin test obsv test sigma test thiran test __dss2ss__ ## identification test @iddata/iddata test @iddata/cat test @iddata/detrend test @iddata/fft test fitfrd test moen4 control-3.2.0/inst/PaxHeaders.3947/nyquist.m0000644000000000000000000000013213450727360015535 xustar0030 mtime=1554231024.561427563 30 atime=1554231024.561427563 30 ctime=1554231028.525576056 control-3.2.0/inst/nyquist.m0000644000175000017500000000742213450727360016003 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {} nyquist (@var{sys}) ## @deftypefnx {Function File} {} nyquist (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}) ## @deftypefnx {Function File} {} nyquist (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{w}) ## @deftypefnx {Function File} {} nyquist (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'}) ## @deftypefnx {Function File} {[@var{re}, @var{im}, @var{w}] =} nyquist (@var{sys}) ## @deftypefnx {Function File} {[@var{re}, @var{im}, @var{w}] =} nyquist (@var{sys}, @var{w}) ## Nyquist diagram of frequency response. If no output arguments are given, ## the response is printed on the screen. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. Must be a single-input and single-output (SISO) system. ## @item w ## Optional vector of frequency values. If @var{w} is not specified, ## it is calculated by the zeros and poles of the system. ## Alternatively, the cell @code{@{wmin, wmax@}} specifies a frequency range, ## where @var{wmin} and @var{wmax} denote minimum and maximum frequencies ## in rad/s. ## @item 'style' ## Line style and color, e.g. 'r' for a solid red line or '-.k' for a dash-dotted ## black line. See @command{help plot} for details. ## @end table ## ## @strong{Outputs} ## @table @var ## @item re ## Vector of real parts. Has length of frequency vector @var{w}. ## @item im ## Vector of imaginary parts. Has length of frequency vector @var{w}. ## @item w ## Vector of frequency values used. ## @end table ## ## @seealso{bode, nichols, sigma} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 1.0 function [re_r, im_r, w_r] = nyquist (varargin) if (nargin == 0) print_usage (); endif [H, w, sty, leg] = __frequency_response__ ("nyquist", varargin, nargout); H = cellfun (@reshape, H, {[]}, {1}, "uniformoutput", false); re = cellfun (@real, H, "uniformoutput", false); im = cellfun (@imag, H, "uniformoutput", false); if (! nargout) len = numel (H); colororder = get (gca, "colororder"); rc = rows (colororder); def_pos = arrayfun (@(k) {"-", "color", colororder(1+rem (k-1, rc), :)}, 1:len, "uniformoutput", false); def_neg = arrayfun (@(k) {"-.", "color", colororder(1+rem (k-1, rc), :)}, 1:len, "uniformoutput", false); idx = cellfun (@isempty, sty); sty_pos = sty_neg = sty; sty_pos(idx) = def_pos(idx); sty_neg(idx) = def_neg(idx); imn = cellfun (@uminus, im, "uniformoutput", false); pos_args = horzcat (cellfun (@horzcat, re, im, sty_pos, "uniformoutput", false){:}); neg_args = horzcat (cellfun (@horzcat, re, imn, sty_neg, "uniformoutput", false){:}); h = plot (pos_args{:}, neg_args{:},-1,0,'r+'); axis ("tight") xlim (__axis_margin__ (xlim)) ylim (__axis_margin__ (ylim)) grid ("on") title ("Nyquist Diagram") xlabel ("Real Axis") ylabel ("Imaginary Axis") legend (h(1:len), leg) else re_r = re{1}; im_r = im{1}; w_r = w{1}; endif endfunction %!demo %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! nyquist(g); control-3.2.0/inst/PaxHeaders.3947/mktito.m0000644000000000000000000000013213450727360015330 xustar0030 mtime=1554231024.549427105 30 atime=1554231024.549427105 30 ctime=1554231028.525576056 control-3.2.0/inst/mktito.m0000644000175000017500000000704313450727360015575 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{P} =} mktito (@var{P}, @var{nmeas}, @var{ncon}) ## Partition @acronym{LTI} plant @var{P} for robust controller synthesis. ## If a plant is partitioned this way, one can omit the inputs @var{nmeas} ## and @var{ncon} when calling the functions @command{hinfsyn} and @command{h2syn}. ## ## @strong{Inputs} ## @table @var ## @item P ## Generalized plant. ## @item nmeas ## Number of measured outputs v. The last @var{nmeas} outputs of @var{P} are connected to the ## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used ## to calculate the H-2/H-infinity norm. ## @item ncon ## Number of controlled inputs u. The last @var{ncon} inputs of @var{P} are connected to the ## outputs of controller @var{K}. The remaining inputs w (indices 1 to m-ncon) are excited ## by a harmonic test signal. ## @end table ## ## @strong{Outputs} ## @table @var ## @item P ## Partitioned plant. The input/output groups and names are overwritten with designations ## according to [1]. ## @end table ## ## @strong{Block Diagram} ## @example ## @group ## ## min||N(K)|| N = lft (P, K) ## K norm ## ## +--------+ ## w ----->| |-----> z ## | P(s) | ## u +---->| |-----+ v ## | +--------+ | ## | | ## | +--------+ | ## +-----| K(s) |<----+ ## +--------+ ## ## +--------+ ## w ----->| N(s) |-----> z ## +--------+ ## @end group ## @end example ## ## @strong{Reference}@* ## [1] Skogestad, S. and Postlethwaite, I. (2005) ## @cite{Multivariable Feedback Control: Analysis and Design: ## Second Edition}. Wiley, Chichester, England. ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2013 ## Version: 0.1 function P = mktito (P, nmeas, ncon) if (nargin != 3) print_usage (); endif if (! isa (P, "lti")) error ("mktito: first argument must be an LTI model"); endif [p, m] = size (P); if (! is_index (nmeas, p)) error ("mktito: second argument 'nmeas' invalid"); endif if (! is_index (ncon, m)) error ("mktito: third argument 'ncon' invalid"); endif outgroup = struct ("Z", 1:p-nmeas, "V", p-nmeas+1:p); outname = vertcat (strseq ("z", 1:p-nmeas), strseq ("v", 1:nmeas)); ingroup = struct ("W", 1:m-ncon, "U", m-ncon+1:m); inname = vertcat (strseq ("w", 1:m-ncon), strseq ("u", 1:ncon)); P = set (P, "outgroup", outgroup, "ingroup", ingroup, ... "outname", outname, "inname", inname); endfunction function bool = is_index (idx, s) ## (idx < s) and not (idx <= s) because we need at least one Z or W bool = is_real_scalar (idx) && fix (idx) == idx && idx > 0 && idx < s; endfunction control-3.2.0/inst/PaxHeaders.3947/sgrid.m0000644000000000000000000000013213450727360015131 xustar0030 mtime=1554231024.581428326 30 atime=1554231024.581428326 30 ctime=1554231028.525576056 control-3.2.0/inst/sgrid.m0000644000175000017500000001733513450727360015403 0ustar00olafolaf00000000000000## Copyright (C) 2019 Stefan Mátéfi-Tempfli ## ## This program is free software: you can redistribute it and/or modify it ## under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## This program is distributed in the hope that it will be useful, but ## WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program. If not, see ## . ## -*- texinfo -*- ## @deftypefn {} {} sgrid ## @deftypefnx {} {} sgrid on ## @deftypefnx {} {} sgrid off ## @deftypefnx {} {} sgrid (@var{z}, @var{w}) ## @deftypefnx {} {} sgrid (@var{hax}, @dots{}) ## ## Control the display of s-plane grid with : ## @itemize @minus ## @item ## zeta lines corresponding to damping ratios and ## @item ## omega circles corresponding to undamped natural frequencies ## @end itemize ## ## The function state input may be either @qcode{"on"} or @qcode{"off"} ## for creating or removing the grid. If omitted, a new grid is created ## when it does not exist or the visibility of the current grid is toggled. ## ## The sgrid will automatically plot the grid lines at nice values or ## at constant values specified by two arguments : ## ## @example ## sgrid (@var{Z}, @var{W}) ## @end example ## ## @noindent ## where @var{Z} and @var{W} are : ## ## @itemize @bullet ## @item ## @var{Z} vector of constant zeta values to plot as lines ## ## @item ## @var{W} vector of constant omega values to plot as circles ## @end itemize ## ## Example of usage: ## ## @example ## sgrid on create the s-plane grid ## ## sgrid off remove the s-plane grid ## ## sgrid toggle the s-plane grid visibility ## ## sgrid ([0.3, 0.8, @dots{}], [10, 75, @dots{}]) create: ## ## @example ## @itemize @minus ## @item ## zeta lines for 0.3, 0.8, @dots{} ## @item ## omega circles for 10, 75, @dots{} [rad/s] ## @end itemize ## @end example ## ## sgrid (@var{hax}, @qcode{"on"}) create the s-plane grid for the axis ## handle @var{hax} ## @end example ## ## @seealso{grid} ## @end deftypefn ## Author: Stefan Mátéfi-Tempfli ## Created: 2019-01-24 function sgrid(varargin) [hax, varargin, nargs] = __plt_get_axis_arg__("sgrid", varargin{:}); if (nargs > 3) print_usage(); endif if (isempty(hax)) hax = gca(); endif hg = findobj(hax, "tag", "sgrid"); if (isempty(hg)) hg = hggroup(hax, "tag", "sgrid"); v_new = 1; else v_new = 0; endif v_z = []; v_w = []; if (nargs == 0) if (v_new) __sgrid_create__(hax, hg, v_z, v_w) else __sgrid_toggle__(hg) endif elseif (nargs == 1) arg1 = varargin{1}; if (! ischar(arg1)) error("sgrid: argument must be a string"); endif if (strcmpi(arg1, "off")) __sgrid_delete__(hg); elseif (strcmpi(arg1, "on")) if (v_new) __sgrid_create__(hax, hg, v_z, v_w) else v_user = get(hg, "userdata"); if (!isempty(v_user.z) | !isempty(v_user.w)) __sgrid_delete_handles__(hg); __sgrid_create__(hax, hg, v_z, v_w) elseif (strcmp(get(hg, "visible"), "off")) set(hg, "visible", "on"); endif endif else print_usage(); endif else v_z = varargin{1}; if (! isnumeric(v_z)) error ("sgrid: Z argument (1) must be numeric"); endif if (any(v_z < 0 | v_z > 1)) error("sgrid: Z argument (1) must have values betwenn 0 .. 1"); endif v_w = varargin{2}; if (! isnumeric(v_w)) error("sgrid: W argument (2) must be numeric"); endif if (any(v_w <= 0)) error("sgrid: W argument (1) must have positive values larger than 0"); endif if (v_new) __sgrid_create__(hax, hg,v_z, v_w) else v_user = get(hg, "userdata"); if (!isequal(v_z, v_user.z) | !isequal(v_w, v_user.w)) __sgrid_delete_handles__(hg); __sgrid_create__(hax, hg, v_z, v_w) elseif (strcmp(get(hg, "visible"), "off")) set(hg, "visible", "on"); endif endif endif endfunction ##---------------------------------------------------- function __sgrid_create__(hax, hg, v_z, v_w) hold on; v_user.z = v_z; v_user.w = v_w; set(hg, "userdata", v_user); v_axis = axis(hax); if ((v_axis(2) < 0.15 * (v_axis(2) - v_axis(1)))) v_axis(2) = 0.15 * (v_axis(2) - v_axis(1)); axis(hax,v_axis); endif v_daxis = [v_axis(2) - v_axis(1), v_axis(4) - v_axis(3)]; v_1d5axis = 0.015 * v_daxis; v_taxis = [v_axis(1) + v_1d5axis(1); v_1d5axis(1); v_axis(3) + v_1d5axis(2); v_axis(4) - v_1d5axis(2)]; v_max = max (abs(v_axis)) * sqrt(2); v_rd = v_max/14; v_x = ceil(log10 (v_rd) - 1); v_p10 = 10^v_x; v_d = ceil(v_rd/v_p10) * v_p10; if (isempty(v_w)) v_w = v_d:v_d:v_max; endif v_w_x = v_taxis(2) * ones(size(v_w)); if ((0.1 < v_d) & (v_d < 1000)) if (v_d >= 1) v_w_str = cellstr(int2str(v_w(:))); else v_w_str = cellstr(num2str(v_w(:),"%2.2f")); endif else v_w_str = cellstr(num2str(v_w(:),"%1.2e")); endif for (i = 1:length(v_w)) v_sgrid.w(i) = plot(v_w(i)*cos(pi/2:0.01:3*pi/2), v_w(i)*sin(pi/2:0.01:3*pi/2), "-k", "linewidth", 0.15, "parent", hg); endfor idx = sum(v_w <= v_taxis(4)); for (i = 1:idx) text(v_w_x(i), v_w(i), v_w_str{i}, "parent", hg); endfor text(v_taxis(2), 0, "0 rad/s", "parent", hg); idx = sum(v_w <= -v_taxis(3)); for (i = 1:idx) text(v_w_x(i), -v_w(i), v_w_str{i}, "parent", hg); endfor if (isempty(v_z)) v_z = sin(linspace(pi/18, 8*pi/18, 10)); endif v_z_phi = [(pi/2 + asin(v_z(v_z != 0))), ... (-pi/2 -asin(v_z((v_z != 0)&(v_z != 1))))]; v_z_px = v_max * cos(v_z_phi); v_z_py = v_max * sin(v_z_phi); v_z_str = cellstr(num2str(abs(sin(v_z_phi(:) - pi/2)),"%1.2f")); for (i = 1:length(v_z_phi)) plot([0 v_z_px(i)], [0 v_z_py(i)], ":k", "linewidth", 0.6, "parent", hg); pry = v_taxis(1) * tan(v_z_phi(i)); if (pry > v_taxis(4)) v_z_lc = v_taxis(4) * [cot(v_z_phi(i)) 1]; v_z_lc(1) += -v_1d5axis(1); elseif (pry < v_taxis(3)) v_z_lc = v_taxis(3) * [cot(v_z_phi(i)) 1]; v_z_lc(1) += -v_1d5axis(1); else v_z_lc = v_taxis(1) * [1 tan(v_z_phi(i))]; endif text (v_z_lc(1), v_z_lc(2), v_z_str{i}, "parent", hg); endfor plot([0 0], [0 v_max], "-k", "linewidth", 0.3, "parent", hg); plot([0 0], [0 -v_max], "-k", "linewidth", 0.3, "parent", hg); hold off; endfunction ##---------------------------------------------------- function __sgrid_delete__(hg) delete(hg); endfunction ##---------------------------------------------------- function __sgrid_delete_handles__(hg) delete(get(hg, "children")); endfunction ##---------------------------------------------------- function __sgrid_toggle__(hg) if (strcmp(get(hg, "visible"), "on")) set(hg, "visible", "off"); elseif (strcmp(get(hg, "visible"), "off")) set(hg, "visible", "on"); endif endfunction %!demo %! clf; %! num = 1; den = [1 4 5 0]; %! sys = tf(num, den); %! rlocus(sys); %! sgrid on; %!demo %! clf; %! num = [1 3]; den = [1 5 20 16 0]; %! sys = tf(num, den); %! rlocus(sys); %! hfig = get(0, "currentfigure"); %! hax = get(hfig, "currentaxes"); %! sgrid(hax, "on"); %!demo %! clf; %! num = 1; den = [1 4 5 0]; %! sys = tf(num, den); %! rlocus(sys); %! sgrid([0.5 0.7 0.89], [1 1.66 2.23]); control-3.2.0/inst/PaxHeaders.3947/mag2db.m0000644000000000000000000000013213450727360015155 xustar0030 mtime=1554231024.545426952 30 atime=1554231024.545426952 30 ctime=1554231028.525576056 control-3.2.0/inst/mag2db.m0000644000175000017500000000264513450727360015425 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{db} =} mag2db (@var{mag}) ## Convert Magnitude to Decibels (dB). ## ## @strong{Inputs} ## @table @var ## @item mag ## Magnitude value(s). Both real-valued scalars and matrices are accepted. ## @end table ## ## @strong{Outputs} ## @table @var ## @item db ## Decibel (dB) value(s). ## @end table ## ## @seealso{db2mag} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2012 ## Version: 0.1 function db = mag2db (mag) if (nargin != 1 || ! is_real_matrix (mag)) print_usage (); endif db = 20 .* log10 (mag); db(mag < 0) = NaN; endfunction %!assert (mag2db (100), 40); %!assert (mag2db (0.1), -20); control-3.2.0/inst/PaxHeaders.3947/__frequency_vector__.m0000644000000000000000000000013213450727360020200 xustar0030 mtime=1554231024.373420385 30 atime=1554231024.373420385 30 ctime=1554231028.525576056 control-3.2.0/inst/__frequency_vector__.m0000644000175000017500000001330713450727360020445 0ustar00olafolaf00000000000000## Copyright (C) 1996, 2000, 2004, 2005, 2006, 2007 ## Auburn University. All rights reserved. ## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This program is free software; you can redistribute it and/or modify it ## under the terms of the GNU General Public License as published by ## the Free Software Foundation; either version 3 of the License, or (at ## your option) any later version. ## ## This program is distributed in the hope that it will be useful, but ## WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU ## General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program; see the file COPYING. If not, see ## . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{w} =} __frequency_vector__ (@var{sys}) ## Get default range of frequencies based on cutoff frequencies of system ## poles and zeros. ## Frequency range is the interval ## @iftex ## @tex ## $ [ 10^{w_{min}}, 10^{w_{max}} ] $ ## @end tex ## @end iftex ## @ifnottex ## [10^@var{wmin}, 10^@var{wmax}] ## @end ifnottex ## ## Used by @command{__frequency_response__} ## @end deftypefn ## Adapted-By: Lukas Reichlin ## Date: October 2009 ## Version: 0.4 function w = __frequency_vector__ (sys_cell, wbounds = "std", wmin, wmax) isc = iscell (sys_cell); if (! isc) # __sys2frd__ methods pass LTI models not in cells sys_cell = {sys_cell}; endif idx = cellfun (@(x) isa (x, "lti"), sys_cell); sys_cell = sys_cell(idx); len = numel (sys_cell); [dec_min, dec_max, zp] = cellfun (@__frequency_range__, sys_cell, {wbounds}, "uniformoutput", false); if (strcmpi (wbounds, "std")) # plots with explicit frequencies if (nargin == 4) # w = {wmin, wmax} dec_min = log10 (wmin); dec_max = log10 (wmax); else dec_min = min (cell2mat (dec_min)); dec_max = max (cell2mat (dec_max)); endif zp = horzcat (zp{:}); ## include zeros and poles for nice peaks in plots idx = find (zp > 10^dec_min & zp < 10^dec_max); zp = zp(idx); w = logspace (dec_min, dec_max, 500); w = unique ([w, zp]); # unique also sorts frequency vector w = repmat ({w}, 1, len); # return cell of frequency vectors elseif (strcmpi (wbounds, "ext")) # plots with implicit frequencies if (nargin == 4) dec_min = repmat ({log10(wmin)}, 1, len); dec_max = repmat ({log10(wmax)}, 1, len); endif idx = cellfun (@(zp, dec_min, dec_max) find (zp > 10^dec_min & zp < 10^dec_max), ... zp, dec_min, dec_max, "uniformoutput", false); zp = cellfun (@(zp, idx) zp(idx), zp, idx, "uniformoutput", false); w = cellfun (@logspace, dec_min, dec_max, {500}, "uniformoutput", false); w = cellfun (@(w, zp) unique ([w, zp]), w, zp, "uniformoutput", false); ## unique also sorts frequency vector else error ("frequency_vector: invalid argument 'wbounds'"); endif if (! isc) # for __sys2frd__ methods w = w{1}; endif endfunction function [dec_min, dec_max, zp] = __frequency_range__ (sys, wbounds = "std") if (isa (sys, "frd")) w = get (sys, "w"); dec_min = log10 (w(1)); dec_max = log10 (w(end)); zp = []; return; endif zer = zero (sys); pol = pole (sys); tsam = abs (get (sys, "tsam")); # tsam could be -1 discrete = ! isct (sys); # static gains (tsam = -2) are assumed continuous ## make sure zer, pol are row vectors pol = reshape (pol, 1, []); zer = reshape (zer, 1, []); ## check for natural frequencies away from omega = 0 if (discrete) ## The 2nd conditions prevents log(0) in the next log command iiz = find (abs(zer-1) > norm(zer)*eps && abs(zer) > norm(zer)*eps); iip = find (abs(pol-1) > norm(pol)*eps && abs(pol) > norm(pol)*eps); ## avoid dividing empty matrices, it would work but looks nasty if (! isempty (iiz)) czer = log (zer(iiz))/tsam; else czer = []; endif if (! isempty (iip)) cpol = log (pol(iip))/tsam; else cpol = []; endif else ## continuous iip = find (abs(pol) > norm(pol)*eps); iiz = find (abs(zer) > norm(zer)*eps); if (! isempty (zer)) czer = zer(iiz); else czer = []; endif if (! isempty (pol)) cpol = pol(iip); else cpol = []; endif endif if (isempty (iip) && isempty (iiz)) ## no poles/zeros away from omega = 0; pick defaults dec_min = 0; # -1 dec_max = 2; # 3 else dec_min = floor (log10 (min (abs ([cpol, czer])))); dec_max = ceil (log10 (max (abs ([cpol, czer])))); endif ## expand to show the entirety of the "interesting" portion of the plot switch (wbounds) case "std" # standard if (dec_min == dec_max) dec_min -= 2; dec_max += 2; else dec_min--; dec_max++; endif case "ext" # extended (for nyquist) if (any (abs (pol) < sqrt (eps))) # look for integrators dec_min -= 0.5; dec_max += 2; else dec_min -= 2; dec_max += 2; endif otherwise error ("frequency_range: second argument invalid"); endswitch ## run discrete frequency all the way to pi if (discrete) dec_max = log10 (pi/tsam); endif ## include zeros and poles for nice peaks in plots zp = [abs(zer), abs(pol)]; endfunction control-3.2.0/inst/PaxHeaders.3947/spaconred.m0000644000000000000000000000013013450727360015775 xustar0029 mtime=1554231024.58542848 29 atime=1554231024.58542848 30 ctime=1554231028.525576056 control-3.2.0/inst/spaconred.m0000644000175000017500000001724313450727360016247 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} spaconred (@var{G}, @var{K}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} spaconred (@var{G}, @var{K}, @var{ncr}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} spaconred (@var{G}, @var{K}, @var{opt}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} spaconred (@var{G}, @var{K}, @var{ncr}, @var{opt}, @dots{}) ## ## Controller reduction by frequency-weighted Singular Perturbation Approximation (SPA). ## Given a plant @var{G} and a stabilizing controller @var{K}, determine a reduced ## order controller @var{Kr} such that the closed-loop system is stable and closed-loop ## performance is retained. ## ## The algorithm tries to minimize the frequency-weighted error ## @iftex ## @tex ## $$ || V \\ (K - K_r) \\ W ||_{\\infty} = \\min $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ||V (K-Kr) W|| = min ## inf ## @end example ## @end ifnottex ## where @var{V} and @var{W} denote output and input weightings. ## ## ## @strong{Inputs} ## @table @var ## @item G ## @acronym{LTI} model of the plant. ## It has m inputs, p outputs and n states. ## @item K ## @acronym{LTI} model of the controller. ## It has p inputs, m outputs and nc states. ## @item ncr ## The desired order of the resulting reduced order controller @var{Kr}. ## If not specified, @var{ncr} is chosen automatically according ## to the description of key @var{'order'}. ## @item @dots{} ## Optional pairs of keys and values. @code{"key1", value1, "key2", value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item Kr ## State-space model of reduced order controller. ## @item info ## Struct containing additional information. ## @table @var ## @item info.ncr ## The order of the obtained reduced order controller @var{Kr}. ## @item info.ncs ## The order of the alpha-stable part of original controller @var{K}. ## @item info.hsvc ## The Hankel singular values of the alpha-stable part of @var{K}. ## The @var{ncs} Hankel singular values are ordered decreasingly. ## @end table ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'order', 'ncr' ## The desired order of the resulting reduced order controller @var{Kr}. ## If not specified, @var{ncr} is chosen automatically such that states with ## Hankel singular values @var{info.hsvc} > @var{tol1} are retained. ## ## @item 'method' ## Order reduction approach to be used as follows: ## @table @var ## @item 'sr', 's' ## Use the square-root Singular Perturbation Approximation method. ## @item 'bfsr', 'p' ## Use the balancing-free square-root Singular Perturbation Approximation method. Default method. ## @end table ## ## @item 'weight' ## Specifies the type of frequency-weighting as follows: ## @table @var ## @item 'none' ## No weightings are used (V = I, W = I). ## ## @item 'left', 'output' ## Use stability enforcing left (output) weighting ## @iftex ## @tex ## $$ V = (I - G K)^{-1} G, \\qquad W = I $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## -1 ## V = (I-G*K) *G , W = I ## @end example ## @end ifnottex ## ## @item 'right', 'input' ## Use stability enforcing right (input) weighting ## @iftex ## @tex ## $$ V = I, \\qquad W = (I - G K)^{-1} G $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## -1 ## V = I , W = (I-G*K) *G ## @end example ## @end ifnottex ## ## @item 'both', 'performance' ## Use stability and performance enforcing weightings ## @iftex ## @tex ## $$ V = (I - G K)^{-1} G, \\qquad W = (I - G K)^{-1} $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## -1 -1 ## V = (I-G*K) *G , W = (I-G*K) ## @end example ## @end ifnottex ## Default value. ## @end table ## ## @item 'feedback' ## Specifies whether @var{K} is a positive or negative feedback controller: ## @table @var ## @item '+' ## Use positive feedback controller. Default value. ## @item '-' ## Use negative feedback controller. ## @end table ## ## @item 'alpha' ## Specifies the ALPHA-stability boundary for the eigenvalues ## of the state dynamics matrix @var{K.A}. For a continuous-time ## controller, ALPHA <= 0 is the boundary value for ## the real parts of eigenvalues, while for a discrete-time ## controller, 0 <= ALPHA <= 1 represents the ## boundary value for the moduli of eigenvalues. ## The ALPHA-stability domain does not include the boundary. ## Default value is 0 for continuous-time controllers and ## 1 for discrete-time controllers. ## ## @item 'tol1' ## If @var{'order'} is not specified, @var{tol1} contains the tolerance for ## determining the order of the reduced controller. ## For model reduction, the recommended value of @var{tol1} is ## c*info.hsvc(1), where c lies in the interval [0.00001, 0.001]. ## Default value is info.ncs*eps*info.hsvc(1). ## If @var{'order'} is specified, the value of @var{tol1} is ignored. ## ## @item 'tol2' ## The tolerance for determining the order of a minimal ## realization of the ALPHA-stable part of the given ## controller. TOL2 <= TOL1. ## If not specified, ncs*eps*info.hsvc(1) is chosen. ## ## @item 'gram-ctrb' ## Specifies the choice of frequency-weighted controllability ## Grammian as follows: ## @table @var ## @item 'standard' ## Choice corresponding to standard Enns' method [1]. Default method. ## @item 'enhanced' ## Choice corresponding to the stability enhanced ## modified Enns' method of [2]. ## @end table ## ## @item 'gram-obsv' ## Specifies the choice of frequency-weighted observability ## Grammian as follows: ## @table @var ## @item 'standard' ## Choice corresponding to standard Enns' method [1]. Default method. ## @item 'enhanced' ## Choice corresponding to the stability enhanced ## modified Enns' method of [2]. ## @end table ## ## @item 'equil', 'scale' ## Boolean indicating whether equilibration (scaling) should be ## performed on @var{G} and @var{K} prior to order reduction. ## Default value is false if both @code{G.scaled == true, K.scaled == true} ## and true otherwise. ## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs ## is of utmost importance. The input and output scaling can @strong{not} ## be done by the equilibration option or the @command{prescale} function ## because these functions perform state transformations only. ## Furthermore, signals should not be scaled simply to a certain range. ## For all inputs (or outputs), a certain change should be of the same ## importance for the model. ## @end table ## ## @strong{Algorithm}@* ## Uses SLICOT SB16AD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Author: Lukas Reichlin ## Created: December 2011 ## Version: 0.1 function [Kr, info] = spaconred (varargin) [Kr, info] = __conred_sb16ad__ ("spa", varargin{:}); endfunction ## TODO: add a test control-3.2.0/inst/PaxHeaders.3947/hsvd.m0000644000000000000000000000013213450727360014765 xustar0030 mtime=1554231024.497425119 30 atime=1554231024.497425119 30 ctime=1554231028.525576056 control-3.2.0/inst/hsvd.m0000644000175000017500000000655513450727360015241 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{hsv} =} hsvd (@var{sys}) ## @deftypefnx{Function File} {@var{hsv} =} hsvd (@var{sys}, @var{"offset"}, @var{offset}) ## @deftypefnx{Function File} {@var{hsv} =} hsvd (@var{sys}, @var{"alpha"}, @var{alpha}) ## Hankel singular values of the stable part of an @acronym{LTI} model. If no output arguments are ## given, the Hankel singular values are displayed in a plot. ## ## @strong{Algorithm}@* ## Uses SLICOT AB13AD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Author: Lukas Reichlin ## Created: January 2010 ## Version: 0.4 function hsv_r = hsvd (sys, prop = "offset", val = 1e-8) if (nargin != 1 && nargin != 3) print_usage (); endif if (! isa (sys, "lti")) error ("hsvd: first argument must be an LTI system"); endif if (! is_real_scalar (val)) error ("hsvd: third argument must be a real scalar"); endif [a, b, c, ~, ~, scaled] = ssdata (sys); discrete = ! isct (sys); switch (tolower (prop(1))) case "o" # offset if (discrete) alpha = 1 - val; else alpha = - val; endif case "a" # alpha alpha = val; otherwise error ("hsvd: second argument invalid"); endswitch [hsv, ns] = __sl_ab13ad__ (a, b, c, discrete, alpha, scaled); if (nargout) hsv_r = hsv; else bar ((1:ns) + (rows (a) - ns), hsv); title (["Hankel Singular Values of Stable Part of ", inputname(1)]); xlabel ("State"); ylabel ("State Energy"); grid ("on"); endif endfunction %!shared hsv, hsv_exp %! a = [ -0.04165 0.0000 4.9200 -4.9200 0.0000 0.0000 0.0000 %! -5.2100 -12.500 0.0000 0.0000 0.0000 0.0000 0.0000 %! 0.0000 3.3300 -3.3300 0.0000 0.0000 0.0000 0.0000 %! 0.5450 0.0000 0.0000 0.0000 -0.5450 0.0000 0.0000 %! 0.0000 0.0000 0.0000 4.9200 -0.04165 0.0000 4.9200 %! 0.0000 0.0000 0.0000 0.0000 -5.2100 -12.500 0.0000 %! 0.0000 0.0000 0.0000 0.0000 0.0000 3.3300 -3.3300]; %! %! b = [ 0.0000 0.0000 %! 12.5000 0.0000 %! 0.0000 0.0000 %! 0.0000 0.0000 %! 0.0000 0.0000 %! 0.0000 12.500 %! 0.0000 0.0000]; %! %! c = [ 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000]; %! %! sys = ss (a, b, c, [], "scaled", true); %! hsv = hsvd (sys, "alpha", 0.0); %! %! hsv_exp = [2.5139; 2.0846; 1.9178; 0.7666; 0.5473; 0.0253; 0.0246]; %! %!assert (hsv, hsv_exp, 1e-4); control-3.2.0/inst/PaxHeaders.3947/dss.m0000644000000000000000000000013213450727360014612 xustar0030 mtime=1554231024.477424356 30 atime=1554231024.477424356 30 ctime=1554231028.525576056 control-3.2.0/inst/dss.m0000644000175000017500000000775413450727360015070 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} dss (@var{sys}) ## @deftypefnx {Function File} {@var{sys} =} dss (@var{d}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} dss (@var{a}, @var{b}, @var{c}, @var{d}, @var{e}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} dss (@var{a}, @var{b}, @var{c}, @var{d}, @var{e}, @var{tsam}, @dots{}) ## Create or convert to descriptor state-space model. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model to be converted to state-space. ## @item a ## State matrix (n-by-n). ## @item b ## Input matrix (n-by-m). ## @item c ## Output matrix (p-by-n). ## @item d ## Feedthrough matrix (p-by-m). ## @item e ## Descriptor matrix (n-by-n). ## @item tsam ## Sampling time in seconds. If @var{tsam} is not specified, ## a continuous-time model is assumed. ## @item @dots{} ## Optional pairs of properties and values. ## Type @command{set (dss)} for more information. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Descriptor state-space model. ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'a', 'b', 'c', 'd', 'e' ## State-space matrices. See 'Inputs' for details. ## ## @item 'stname' ## The name of the states in @var{sys}. ## Cell vector containing strings for each state. ## Default names are @code{@{'x1', 'x2', ...@}} ## ## @item 'scaled' ## Logical. If set to true, no automatic scaling is used, ## e.g. for frequency response plots. ## ## @item 'tsam' ## Sampling time. See 'Inputs' for details. ## ## @item 'inname' ## The name of the input channels in @var{sys}. ## Cell vector of length m containing strings. ## Default names are @code{@{'u1', 'u2', ...@}} ## ## @item 'outname' ## The name of the output channels in @var{sys}. ## Cell vector of length p containing strings. ## Default names are @code{@{'y1', 'y2', ...@}} ## ## @item 'ingroup' ## Struct with input group names as field names and ## vectors of input indices as field values. ## Default is an empty struct. ## ## @item 'outgroup' ## Struct with output group names as field names and ## vectors of output indices as field values. ## Default is an empty struct. ## ## @item 'name' ## String containing the name of the model. ## ## @item 'notes' ## String or cell of string containing comments. ## ## @item 'userdata' ## Any data type. ## @end table ## ## @strong{Equations} ## @example ## @group ## . ## E x = A x + B u ## y = C x + D u ## @end group ## @end example ## ## @seealso{ss, tf} ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2010 ## Version: 0.2 function sys = dss (varargin) mat_idx = __lti_input_idx__ (varargin); switch (numel (mat_idx)) case {0, 1} sys = ss (varargin{:}); [a, ~, ~, ~, e] = __sys_data__ (sys); if (isempty (e)); sys = __set__ (sys, "e", eye (size (a))); endif case {5, 6} sys = ss (varargin{[1:4, 6:end]}, "e", varargin{5}); otherwise print_usage (); endswitch endfunction ## NOTE: The author prefers "dss (e, a, b, c, d)" since we write ## . ## E x = A x + B u, y = C x + D u ## ## but this would break compatibility to a widespread ## commercial implementation of the octave language. ## There's no way to tell e and d apart if n = m = p. control-3.2.0/inst/PaxHeaders.3947/spamodred.m0000644000000000000000000000013013450727360015775 xustar0029 mtime=1554231024.58542848 29 atime=1554231024.58542848 30 ctime=1554231028.525576056 control-3.2.0/inst/spamodred.m0000644000175000017500000002035213450727360016242 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{Gr}, @var{info}] =} spamodred (@var{G}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} spamodred (@var{G}, @var{nr}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} spamodred (@var{G}, @var{opt}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} spamodred (@var{G}, @var{nr}, @var{opt}, @dots{}) ## ## Model order reduction by frequency weighted Singular Perturbation Approximation (SPA). ## The aim of model reduction is to find an @acronym{LTI} system @var{Gr} of order ## @var{nr} (nr < n) such that the input-output behaviour of @var{Gr} ## approximates the one from original system @var{G}. ## ## SPA is an absolute error method which tries to minimize ## @iftex ## @tex ## $$ || G - G_r ||_{\\infty} = \\min $$ ## $$ || V \\ (G - G_r) \\ W ||_{\\infty} = \\min $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ||G-Gr|| = min ## inf ## ## ||V (G-Gr) W|| = min ## inf ## @end example ## @end ifnottex ## where @var{V} and @var{W} denote output and input weightings. ## ## ## @strong{Inputs} ## @table @var ## @item G ## @acronym{LTI} model to be reduced. ## @item nr ## The desired order of the resulting reduced order system @var{Gr}. ## If not specified, @var{nr} is chosen automatically according ## to the description of key @var{'order'}. ## @item @dots{} ## Optional pairs of keys and values. @code{"key1", value1, "key2", value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item Gr ## Reduced order state-space model. ## @item info ## Struct containing additional information. ## @table @var ## @item info.n ## The order of the original system @var{G}. ## @item info.ns ## The order of the @var{alpha}-stable subsystem of the original system @var{G}. ## @item info.hsv ## The Hankel singular values of the @var{alpha}-stable part of ## the original system @var{G}, ordered decreasingly. ## @item info.nu ## The order of the @var{alpha}-unstable subsystem of both the original ## system @var{G} and the reduced-order system @var{Gr}. ## @item info.nr ## The order of the obtained reduced order system @var{Gr}. ## @end table ## @end table ## ## ## @strong{Option Keys and Values} ## @table @var ## @item 'order', 'nr' ## The desired order of the resulting reduced order system @var{Gr}. ## If not specified, @var{nr} is chosen automatically such that states with ## Hankel singular values @var{info.hsv} > @var{tol1} are retained. ## ## @item 'left', 'output' ## @acronym{LTI} model of the left/output frequency weighting @var{V}. ## Default value is an identity matrix. ## ## @item 'right', 'input' ## @acronym{LTI} model of the right/input frequency weighting @var{W}. ## Default value is an identity matrix. ## ## @item 'method' ## Approximation method for the L-infinity norm to be used as follows: ## @table @var ## @item 'sr', 's' ## Use the square-root Singular Perturbation Approximation method. ## @item 'bfsr', 'p' ## Use the balancing-free square-root Singular Perturbation Approximation method. Default method. ## @end table ## ## @item 'alpha' ## Specifies the ALPHA-stability boundary for the eigenvalues ## of the state dynamics matrix @var{G.A}. For a continuous-time ## system, ALPHA <= 0 is the boundary value for ## the real parts of eigenvalues, while for a discrete-time ## system, 0 <= ALPHA <= 1 represents the ## boundary value for the moduli of eigenvalues. ## The ALPHA-stability domain does not include the boundary. ## Default value is 0 for continuous-time systems and ## 1 for discrete-time systems. ## ## @item 'tol1' ## If @var{'order'} is not specified, @var{tol1} contains the tolerance for ## determining the order of the reduced model. ## For model reduction, the recommended value of @var{tol1} is ## c*info.hsv(1), where c lies in the interval [0.00001, 0.001]. ## Default value is info.ns*eps*info.hsv(1). ## If @var{'order'} is specified, the value of @var{tol1} is ignored. ## ## @item 'tol2' ## The tolerance for determining the order of a minimal ## realization of the ALPHA-stable part of the given ## model. TOL2 <= TOL1. ## If not specified, ns*eps*info.hsv(1) is chosen. ## ## @item 'gram-ctrb' ## Specifies the choice of frequency-weighted controllability ## Grammian as follows: ## @table @var ## @item 'standard' ## Choice corresponding to a combination method [4] ## of the approaches of Enns [1] and Lin-Chiu [2,3]. Default method. ## @item 'enhanced' ## Choice corresponding to the stability enhanced ## modified combination method of [4]. ## @end table ## ## @item 'gram-obsv' ## Specifies the choice of frequency-weighted observability ## Grammian as follows: ## @table @var ## @item 'standard' ## Choice corresponding to a combination method [4] ## of the approaches of Enns [1] and Lin-Chiu [2,3]. Default method. ## @item 'enhanced' ## Choice corresponding to the stability enhanced ## modified combination method of [4]. ## @end table ## ## @item 'alpha-ctrb' ## Combination method parameter for defining the ## frequency-weighted controllability Grammian. ## abs(alphac) <= 1. ## If alphac = 0, the choice of ## Grammian corresponds to the method of Enns [1], while if ## alphac = 1, the choice of Grammian corresponds ## to the method of Lin and Chiu [2,3]. ## Default value is 0. ## ## @item 'alpha-obsv' ## Combination method parameter for defining the ## frequency-weighted observability Grammian. ## abs(alphao) <= 1. ## If alphao = 0, the choice of ## Grammian corresponds to the method of Enns [1], while if ## alphao = 1, the choice of Grammian corresponds ## to the method of Lin and Chiu [2,3]. ## Default value is 0. ## ## @item 'equil', 'scale' ## Boolean indicating whether equilibration (scaling) should be ## performed on system @var{G} prior to order reduction. ## Default value is true if @code{G.scaled == false} and ## false if @code{G.scaled == true}. ## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs ## is of utmost importance. The input and output scaling can @strong{not} ## be done by the equilibration option or the @command{prescale} function ## because these functions perform state transformations only. ## Furthermore, signals should not be scaled simply to a certain range. ## For all inputs (or outputs), a certain change should be of the same ## importance for the model. ## @end table ## ## ## @strong{References}@* ## [1] Enns, D. ## @cite{Model reduction with balanced realizations: An error bound ## and a frequency weighted generalization}. ## Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984. ## ## [2] Lin, C.-A. and Chiu, T.-Y. ## @cite{Model reduction via frequency-weighted balanced realization}. ## Control Theory and Advanced Technology, vol. 8, ## pp. 341-351, 1992. ## ## [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G. ## @cite{New results on frequency weighted balanced reduction ## technique}. ## Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995. ## ## [4] Varga, A. and Anderson, B.D.O. ## @cite{Square-root balancing-free methods for the frequency-weighted ## balancing related model reduction}. ## (report in preparation) ## ## ## @strong{Algorithm}@* ## Uses SLICOT AB09ID by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2011 ## Version: 0.1 function [Gr, info] = spamodred (varargin) [Gr, info] = __modred_ab09id__ ("spa", varargin{:}); endfunction ## TODO: add a test control-3.2.0/inst/PaxHeaders.3947/VLFamp.m0000644000000000000000000000013213450727360015146 xustar0030 mtime=1554231024.325418552 30 atime=1554231024.325418552 30 ctime=1554231028.525576056 control-3.2.0/inst/VLFamp.m0000644000175000017500000004105513450727360015414 0ustar00olafolaf00000000000000## Copyright (C) 2015 Thomas D. Dean ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {} VLFamp ## @deftypefnx{Function File} {@var{result} =} VLFamp (@var{verbose}) ## Calculations on a two stage preamp for a multi-turn, ## air-core solenoid loop antenna for the reception of ## signals below 30kHz. ## ## The Octave Control Package functions are used extensively to ## approximate the behavior of operational amplifiers and passive ## electrical circuit elements. ## ## This example presents several 'screen' pages of documentation of the ## calculations and some reasoning about why. Plots of the results are ## presented in most cases. ## ## The process is to display a 'screen' page of text followed by the ## calculation and a 'Press return to continue' message. To proceed in ## the example, press return. ^C to exit. ## ## At one point in the calculations, the process may seem to hang, but, ## this is because of extensive calculations. ## ## The returned transfer function is more than 100 characters long so ## will wrap in screens that are narrow and appear jumbled. ## @end deftypefn ## Author: Thomas D. Dean ## Created: June 2015 ## Version: 0.1 function retval = VLFamp (verbose = false) if (nargin > 1) print_usage (); endif clc; disp ("---- VLF Pre-Amplifier Design ----"); disp (""); disp ("This example covers the design of a pre-amplifier for use in"); disp ("receiving radio frequencies below 30kHz."); disp (""); disp ("See http://www.vlf.it for details of Narural Radio Sources"); disp (""); disp ("The Octave Control Package functions are used extensively to"); disp ("approximate the behavior of operational amplifiers and passive"); disp ("electrical circuit elements."); disp (""); disp ("This example presents several 'screen' pages of documentation of the"); disp ("calculations and some reasoning about why. Plots of the results are"); disp ("presented in most cases."); disp (""); disp ("Often, when multiple plots are displayed, they may be overlaid"); disp ("on the screen. You may use the mouse and move them for better viewing."); disp (""); disp ("The process is to display a 'screen' page of text followed by the"); disp ("calculation and a 'Press return to continue' message. To proceed in"); disp ("the example, press return. ^C to exit."); disp (""); disp ("At one point in the calculations, the process may seem to hang, but,"); disp ("this is because of extensive calculations."); disp (""); disp ("The returned transfer function is more than 100 characters long so"); disp ("will wrap in screens that are narrow and appear jumbled."); disp (""); ## input ("Press Return to continue:"); blanks (); ## disp (""); disp ("The amplifier consists of two AD797 op amps and a low pass filter."); disp ("With biasing and blocking capacitors omitted, three blocks remain."); disp (""); disp (""); disp (" Gain = 10"); disp (" +-------------+"); disp (" | | -- Low Pass Filter --"); disp (" ---+ p |"); disp (" Loop | Stage 1 +--+----R3--+--R4--+--R5--+---> To Stage 2"); disp (" | Amplifier | | | | |"); disp (" -+-+ n | | C1 C2 C3"); disp (" | | | | | | |"); disp (" | +-------------+ | Gnd Gnd Gnd"); disp (" | |"); disp (" +----+---R2--------+"); disp (" |"); disp (" R1"); disp (" |"); disp (" Gnd"); disp (""); disp (""); disp (""); disp (" Gain = 10"); disp (" +-------------+"); disp (" | |"); disp (" Gnd--+ p |"); disp (" | Stage 2 +--+----R8--+----> Output"); disp (" | Amplifier | | |"); disp (" From >---+-+ n | | R9"); disp (" Filter | | | | |"); disp (" | +-------------+ | Gnd"); disp (" | |"); disp (" +----+---R6--------+"); disp (" |"); disp (" R7"); disp (" |"); disp (" Gnd"); disp (""); disp (""); disp ("R1 and R2 profide feedback to control the gain of Stage 1."); disp ("R3 through R5 with C1 through C3 form a low pass filter to limit the"); disp (" bandwidth."); disp ("R6 and R7 profide feedback to control the gain of Stage 2."); disp ("R8 and R9 provide impedance matching to the cable and/or receiver,"); disp (" possibly a PC sound card."); disp (""); ## input ("Press Return to continue:"); blanks (); ## disp (""); disp (""); disp ("The graphs in the ad797 datasheet reveal the following parameters:"); disp (""); show ("a0 = 1e7; ## Open Loop Gain"); show ("p1 = 55; ## Pole (Hz)"); show ("p2 = 1e6; ## Pole (Hz)"); show ("z1 = 4.3e6; ## Zero (Hz)"); disp (""); disp ("The open loop transfer function of an op amp with m zeros and n"); disp ("poles is expressed in the form:"); disp (" tf = open_loop_gain * zero_expressions / pole_expressions"); disp ("where "); disp (" zero_expressions = (1+s/z1) * (1+s/z2) * ... * (1+s/zm) "); disp (" pole_expressions = (1+s/p1) * (1+s/p2) * ... * (1+s/pn)"); disp (" z1 ... zm are the m zeros"); disp (" p1 ... pn are the n poles"); disp (""); ## input ("Press Return to continue:"); blanks (); ## disp (""); disp ("The amplifier stages have 1 zero and 2 poles:"); disp (""); show ("s = tf ('s')") disp (""); show ("TFopen = a0 * (1+s/z1) / (1+s/p1) / (1+s/p2)") disp (""); show ("TFopen_norm = minreal (TFopen)") disp (""); disp ("Note: The difference between the op amp expression and the usual"); disp ("Zero-Pole-Gain expression is in the modification of the gain"); disp ("parameter. The gain argument to zpk() is modified by the zeros"); disp ("and poles, so the derived transfer function matches actual"); disp ("measurements."); disp (""); show ("Azpk = zpk ([-z1], [-p1, -p2], 1e7*p1*p2/z1)") ## input ("Press Return to continue:"); blanks (); ## disp (""); disp ("The bode plot of these two open loop transfer functions produce"); disp ("identical results. And, the plots show the same shape as the"); disp ("graphs in the datasheet."); disp (""); show ("figure 1"); show ("bode (TFopen)"); show ("subplot (2,1,1)"); show ("title ('Equation Bode Diagram')"); show ("figure 2"); show ("bode (Azpk)"); show ("subplot (2,1,1)"); show ("title ('ZPK Bode Diagram')"); disp (""); disp ("Two Bode Diagrams should be visible, possibly overlaid."); disp (""); ## input ("Press Return to close the plots and continue:"); blanks (); ## close all; disp (""); disp ("The normalized step response of the ad797 is:"); disp (""); show ("TFnorm = TFopen/dcgain(TFopen)") disp (""); show ("step (TFnorm, 'b')"); show ("title ('AD797 Normalized Open-Loop Step Response')"); show ("ylabel ('Normalized Amplitude')"); disp (""); ## input ("Press Return to close the plot and continue:"); blanks (); ## close all; disp (""); disp ("--- Design Stage 1 of the VLFamp ---"); disp (""); disp ("Resistors R1 and R2 form a feedback system to control the gain of "); disp ("Stage 1. This feedback system returns a portion of the output to the"); disp ("negative input. This is normally expressed as:"); disp (" Vfb = Vout * R1 / (R1 + R2)"); disp ("So, the transfer function of the feedback network is:"); disp (" tf = Vfb / Vout = R1 / (R1 + R2)"); disp ("The effects of the AD797 gain on the input and the feedback may be "); disp ("represented as TFstage1 = Vout/Vp = gain / (1 + dcgain * TFfeedback)."); disp ("If dcgain is sufficiently large, this reduces to"); disp (" TFstage1 = 1 / TFfeedback."); disp ("The dcgain of the AD797 is >> 1, so, the feedback completely controls"); disp ("the output and variations in the dcgain will not effect the Stage gain."); disp (""); disp ("The feedback is added to the AD797 using the feedback function"); disp (""); show ("Gfb = 10"); show ("b = 1 / Gfb"); show ("R1 = 10e3"); show ("R2 = R1 * (1/b - 1)") disp (""); show ("TFstage1 = feedback (TFopen, b)"); disp (""); show ("bodemag (TFopen, 'r', TFstage1, 'b')"); show ("legend ('Open Loop Gain (TFopen)', 'Closed Loop Gain (TFstage1)')"); disp (""); disp ("The use of negative feedback to reduce the low-frequency (LF) gain"); disp ("has led to a corresponding increase in the system bandwidth (defined"); disp ("as the frequency where the gain drops 3dB below its maximum value)."); disp (""); disp ("With this feedback, we have a gain of 10, or 20db up to 10MHz,"); disp ("far more than the frequency range of interest."); disp (""); ## input ("Press Return to close the plot and continue:"); blanks (); ## close all; disp (""); disp ("Since the gain is now dominated by the feedback network, a useful"); disp ("relationship to consider is the sensitivity of this gain to variation"); disp ("in the op amp's open-loop gain."); disp (""); disp ("Before deriving the system sensitivity, however, it is useful to"); disp ("define the loop gain, L(s)=a(s)b(s), which is the total gain a signal"); disp ("experiences traveling around the loop:"); disp (""); disp ("Sensitivity = partial(TFstage1/TFopen)*TFopen/TFstage1"); disp ("or S(s) = 1 / (1 + TFopen(s) * TFstage1(s))"); disp ("or S(s) = 1 / (1 + L(s)), which has the same form as feedback"); disp ("So, use the feedback function to develop the sensitivity."); disp (""); show ("L = TFopen * b") disp (""); show ("Sens = feedback (1, L)") disp (""); show ("figure 1"); show ("bodemag (TFstage1, 'b', Sens, 'g')"); disp (""); disp ("The very small low-frequency sensitivity (more than -100 dB) indicates"); disp ("a design whose closed-loop gain suffers minimally from open-loop gain"); disp ("variation. Such variation in a(s) is common due to manufacturing"); disp ("variability, temperature change, etc."); disp (""); ## input ("Press Return to close the plot and continue:"); blanks (); ## disp (""); disp ("You can check the step response of A(s) using the STEP command:"); disp (""); show ("figure 2"); show ("step (TFstage1)"); disp (""); disp ("The stability margin can be analyzed by plotting the loop gain, L(s)"); disp ("with the margin function."); disp (" "); disp ("This plot may display warning messages, you can safely ignore them."); disp (" "); fflush(stdout); show ("margin (L)"); disp (" "); fflush(stdout); fflush(stderr); disp (" "); disp ("Two plots are displayed, possibly overlaid."); disp (" "); ## input ("Press Return to close the plots and continue:"); blanks (); ## disp (""); disp ("The plot indicates a phase margin of less than 3 degrees. Stage 1"); disp ("needs to be compensated to increase this to an acceptible level,"); disp ("more than 45 degrees, if possible."); disp (""); disp ("Feedback Lead Compensation"); disp (""); disp ("A commonly used method of compensation in this type of circuit is"); disp ("feedback lead compensation. This technique modifies b(s) by adding"); disp ("a capacitor, C, in parallel with the feedback resistor, R2."); disp ("The capacitor value is chosen so as to introduce a phase lead to b(s)"); disp ("near the crossover frequency, thus increasing the amplifier's phase"); disp ("margin."); disp ("The new feedback transfer function is shown below."); disp ("You can approximate a value for C by placing the zero of b(s) at the"); disp ("0dB crossover frequency of L(s):"); disp (""); show ("[Gm, Pm, Wcg, Wcp] = margin (L)"); show ("C = 1/(R2*Wcp)") disp (""); if (C < 1e-12) disp ("The calculated value of C is very small."); disp ("Now, look at a range of values."); endif; disp (" "); disp ("The next plots take some time..."); disp (" "); ## input ("Press Return to close the plot and continue:"); blanks (); ## close all; disp ("The next plots take some time..."); disp (""); show ("K = R1/(R1+R2);"); show ("C = [10:10:200]*1e-12;"); show ("b_array = arrayfun (@(C) tf ([K*R2*C, K], [K*R2*C, 1]), C,'uniformoutput',false);"); show ("A_array = cellfun (@feedback, {TFopen}, b_array, 'uniformoutput', false);"); show ("L_array = cellfun (@mtimes, {TFopen}, b_array, 'uniformoutput', false);"); show ("S_array = cellfun (@feedback, {1}, L_array, 'uniformoutput', false);"); disp (" "); fflush(stdout); show ("[Gm, Pm, Wcg, Wcp] = cellfun (@margin, L_array);"); disp (" "); close all show ("figure 1"); show ("step (TFstage1, 'r', A_array{:})"); show ("figure 2"); show ("bode (TFstage1, A_array{:})"); show ("figure 3"); show ("plot (C, Pm)"); show ("grid"); show ("xlabel ('Compensation Capacitor, C (pF)')"); show ("ylabel ('Phase Margin (deg)')"); show ("figure 4"); show ("step (A_array{C==50e-12}, 'r', A_array{C==100e-12}, 'b', A_array{C==200e-12}, 'g')"); show ("legend ('Compensated (50 pF)', 'Compensated (100 pF)', 'Compensated (200 pF)')"); disp (" "); disp ("Four plots are displayed, possibly overlaid."); disp (" "); ## input ("Press Return to close the plots and continue:"); blanks (); ## close all; disp (""); disp (""); disp (" Gain = 10"); disp (" +-------------+"); disp (" | |"); disp (" ---+ p |"); disp (" Loop | Stage 1 +--+---->"); disp (" | Amplifier | |"); disp (" -+-+ n | |"); disp (" | | | |"); disp (" | +-------------+ |"); disp (" | |"); disp (" +----+------R2-----+"); disp (" | |"); disp (" +-----Ccomp---+"); disp (" |"); disp (" |"); disp (" R1"); disp (" |"); disp (" Gnd"); disp (""); disp ("The selected compensation capacitor is 100pf."); show ("TFcomp = A_array{C==100e-12}"); show ("bode (TFopen, 'b', TFstage1, 'g', TFcomp, 'r')"); show ("legend ('TFopen', 'TFstage1', 'TFcomp')"); disp (""); ## input ("Press Return to close the plot and continue:"); blanks (); ## close all; disp (""); disp ("--- Low Pass Filter Design ---"); disp (""); disp ("The low pass filter is composed of three equal sections."); disp ("Develop one section and put three in series."); disp (""); show ("C = 20e-9"); show ("R = 1000"); show ("TFsection = tf ([1], [C*R, 1])"); disp (""); show ("TFfilter = TFsection * TFsection * TFsection;"); if (verbose) TFfilter endif; disp (""); disp ("---- Final Design ----"); disp (""); disp ("The final configuration is: AD797 --> LP Filter --> AD797"); disp (""); show ("TFpreamp = TFcomp * TFfilter * TFcomp;"); show ("figure 1"); show ("bode (TFpreamp, {1, 1e5})"); show ("figure 2"); show ("margin (TFpreamp)"); disp (""); disp ("Two plots are displayed, possibly overlaid."); disp (""); ## input ("Press Return to close the plots and continue:"); blanks (); ## disp (""); disp ("As can be seen from the plots, the gain margin is almost 30db."); disp ("The phase margin is 230 degrees."); disp (""); ## disp ("Use 'close all' to close the plots."); ## close all blanks (); disp ("The resultant transfer function is over 100 characters long"); disp ("and will appear jumbled on narrower screens."); disp (""); show ("TFpreamp") ## if (nargout > 0) retval = TFpreamp; endif endfunction ## support function to display a command and then ## execute it in the caller's environment. function show (str) disp ([">> ", str]); evalin ("caller", str); endfunction ## support function to insert blank lines in the display function blanks (n = 5) for idx = 1:n disp (""); endfor endfunction control-3.2.0/inst/PaxHeaders.3947/cfconred.m0000644000000000000000000000013213450727360015604 xustar0030 mtime=1554231024.449423287 30 atime=1554231024.449423287 30 ctime=1554231028.525576056 control-3.2.0/inst/cfconred.m0000644000175000017500000002667513450727360016065 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{G}, @var{F}, @var{L}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{G}, @var{F}, @var{L}, @var{ncr}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{G}, @var{F}, @var{L}, @var{opt}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} cfconred (@var{G}, @var{F}, @var{L}, @var{ncr}, @var{opt}, @dots{}) ## ## Reduction of state-feedback-observer based controller by coprime factorization (CF). ## Given a plant @var{G}, state feedback gain @var{F} and full observer gain @var{L}, ## determine a reduced order controller @var{Kr}. ## ## @strong{Inputs} ## @table @var ## @item G ## @acronym{LTI} model of the open-loop plant (A,B,C,D). ## It has m inputs, p outputs and n states. ## @item F ## Stabilizing state feedback matrix (m-by-n). ## @item L ## Stabilizing observer gain matrix (n-by-p). ## @item ncr ## The desired order of the resulting reduced order controller @var{Kr}. ## If not specified, @var{ncr} is chosen automatically according ## to the description of key @var{'order'}. ## @item @dots{} ## Optional pairs of keys and values. @code{"key1", value1, "key2", value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item Kr ## State-space model of reduced order controller. ## @item info ## Struct containing additional information. ## @table @var ## @item info.hsv ## The Hankel singular values of the extended system?!?. ## The @var{n} Hankel singular values are ordered decreasingly. ## @item info.ncr ## The order of the obtained reduced order controller @var{Kr}. ## @end table ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'order', 'ncr' ## The desired order of the resulting reduced order controller @var{Kr}. ## If not specified, @var{ncr} is chosen automatically such that states with ## Hankel singular values @var{info.hsv} > @var{tol1} are retained. ## ## @item 'method' ## Order reduction approach to be used as follows: ## @table @var ## @item 'sr-bta', 'b' ## Use the square-root Balance & Truncate method. ## @item 'bfsr-bta', 'f' ## Use the balancing-free square-root Balance & Truncate method. Default method. ## @item 'sr-spa', 's' ## Use the square-root Singular Perturbation Approximation method. ## @item 'bfsr-spa', 'p' ## Use the balancing-free square-root Singular Perturbation Approximation method. ## @end table ## ## @item 'cf' ## Specifies whether left or right coprime factorization is ## to be used as follows: ## @table @var ## @item 'left', 'l' ## Use left coprime factorization. Default method. ## @item 'right', 'r' ## Use right coprime factorization. ## @end table ## ## @item 'feedback' ## Specifies whether @var{F} and @var{L} are fed back positively or negatively: ## @table @var ## @item '+' ## A+BK and A+LC are both Hurwitz matrices. ## @item '-' ## A-BK and A-LC are both Hurwitz matrices. Default value. ## @end table ## ## @item 'tol1' ## If @var{'order'} is not specified, @var{tol1} contains the tolerance for ## determining the order of the reduced system. ## For model reduction, the recommended value of @var{tol1} is ## c*info.hsv(1), where c lies in the interval [0.00001, 0.001]. ## Default value is n*eps*info.hsv(1). ## If @var{'order'} is specified, the value of @var{tol1} is ignored. ## ## @item 'tol2' ## The tolerance for determining the order of a minimal ## realization of the coprime factorization controller. ## TOL2 <= TOL1. ## If not specified, n*eps*info.hsv(1) is chosen. ## ## @item 'equil', 'scale' ## Boolean indicating whether equilibration (scaling) should be ## performed on system @var{G} prior to order reduction. ## Default value is true if @code{G.scaled == false} and ## false if @code{G.scaled == true}. ## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs ## is of utmost importance. The input and output scaling can @strong{not} ## be done by the equilibration option or the @command{prescale} function ## because these functions perform state transformations only. ## Furthermore, signals should not be scaled simply to a certain range. ## For all inputs (or outputs), a certain change should be of the same ## importance for the model. ## @end table ## ## @strong{Algorithm}@* ## Uses SLICOT SB16BD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Author: Lukas Reichlin ## Created: December 2011 ## Version: 0.1 function [Kr, info] = cfconred (G, F, L, varargin) if (nargin < 3) print_usage (); endif if (! isa (G, "lti")) error ("cfconred: first argument must be an LTI system"); endif if (! is_real_matrix (F)) error ("cfconred: second argument must be a real matrix"); endif if (! is_real_matrix (L)) error ("cfconred: third argument must be a real matrix"); endif if (nargin > 3) # cfconred (G, F, L, ...) if (is_real_scalar (varargin{1})) # cfconred (G, F, L, nr) varargin = horzcat (varargin(2:end), {"order"}, varargin(1)); endif if (isstruct (varargin{1})) # cfconred (G, F, L, opt, ...), cfconred (G, F, L, nr, opt, ...) varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end)); endif ## order placed at the end such that nr from cfconred (G, F, L, nr, ...) ## and cfconred (G, F, L, nr, opt, ...) overrides possible nr's from ## key/value-pairs and inside opt struct (later keys override former keys, ## nr > key/value > opt) endif nkv = numel (varargin); # number of keys and values if (rem (nkv, 2)) error ("cfconred: keys and values must come in pairs"); endif [a, b, c, d, tsam, scaled] = ssdata (G); [p, m] = size (G); n = rows (a); [mf, nf] = size (F); [nl, pl] = size (L); dt = isdt (G); jobd = any (d(:)); if (mf != m || nf != n) error ("cfconred: dimensions of state-feedback matrix (%dx%d) and plant (%dx%d, %d states) don't match", ... mf, nf, p, m, n); endif if (nl != n || pl != p) error ("cfconred: dimensions of observer matrix (%dx%d) and plant (%dx%d, %d states) don't match", ... nl, pl, p, m, n); endif ## default arguments tol1 = 0.0; tol2 = 0.0; jobcf = 0; jobmr = 2; # balancing-free BTA equil = scaled; # equil: 0 means "S", 1 means "N" ordsel = 1; ncr = 0; negfb = true; # A-BK, A-LC Hurwitz ## handle keys and values for k = 1 : 2 : nkv key = lower (varargin{k}); val = varargin{k+1}; switch (key) case {"order", "ncr", "nr"} [ncr, ordsel] = __modred_check_order__ (val, n); case "tol1" tol1 = __modred_check_tol__ (val, "tol1"); case "tol2" tol2 = __modred_check_tol__ (val, "tol2"); case "cf" switch (lower (val(1))) case "l" jobcf = 0; case "r" jobcf = 1; otherwise error ("cfconred: '%s' is an invalid coprime factorization", val); endswitch case "method" # approximation method switch (tolower (val)) case {"sr-bta", "b"} # 'B': use the square-root Balance & Truncate method jobmr = 0; case {"bfsr-bta", "f"} # 'F': use the balancing-free square-root Balance & Truncate method jobmr = 1; case {"sr-spa", "s"} # 'S': use the square-root Singular Perturbation Approximation method jobmr = 2; case {"bfsr-spa", "p"} # 'P': use the balancing-free square-root Singular Perturbation Approximation method jobmr = 3; otherwise error ("cfconred: '%s' is an invalid approach", val); endswitch case {"equil", "equilibrate", "equilibration", "scale", "scaling"} equil = __modred_check_equil__ (val); case "feedback" negfb = __conred_check_feedback_sign__ (val); otherwise warning ("cfconred: invalid property name '%s' ignored", key); endswitch endfor ## A - B*F --> A + B*F ; A - L*C --> A + L*C if (negfb) F = -F; L = -L; endif ## perform model order reduction [acr, bcr, ccr, dcr, ncr, hsv] = __sl_sb16bd__ (a, b, c, d, dt, equil, ncr, ordsel, jobd, jobmr, ... F, L, jobcf, tol1, tol2); ## assemble reduced order controller Kr = ss (acr, bcr, ccr, dcr, tsam); ## assemble info struct info = struct ("ncr", ncr, "hsv", hsv); endfunction %!shared Mo, Me, Info, HSVe %! A = [ 0 1.0000 0 0 0 0 0 0 %! 0 0 0 0 0 0 0 0 %! 0 0 -0.0150 0.7650 0 0 0 0 %! 0 0 -0.7650 -0.0150 0 0 0 0 %! 0 0 0 0 -0.0280 1.4100 0 0 %! 0 0 0 0 -1.4100 -0.0280 0 0 %! 0 0 0 0 0 0 -0.0400 1.850 %! 0 0 0 0 0 0 -1.8500 -0.040 ]; %! %! B = [ 0.0260 %! -0.2510 %! 0.0330 %! -0.8860 %! -4.0170 %! 0.1450 %! 3.6040 %! 0.2800 ]; %! %! C = [ -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026 ]; %! %! D = [ 0.0 ]; %! %! G = ss (A, B, C, D); % "scaled", false %! %! F = [ 4.4721e-002 6.6105e-001 4.6986e-003 3.6014e-001 1.0325e-001 -3.7541e-002 -4.2685e-002 3.2873e-002 ]; %! %! L = [ 4.1089e-001 %! 8.6846e-002 %! 3.8523e-004 %! -3.6194e-003 %! -8.8037e-003 %! 8.4205e-003 %! 1.2349e-003 %! 4.2632e-003 ]; %! %! [Kr, Info] = cfconred (G, F, L, 4, "method", "bfsr-bta", "cf", "left", "feedback", "+"); %! [Ao, Bo, Co, Do] = ssdata (Kr); %! %! Ae = [ 0.5946 -0.7336 0.1914 -0.3368 %! 0.5960 -0.0184 -0.1088 0.0207 %! 1.2253 0.2043 0.1009 -1.4948 %! -0.0330 -0.0243 1.3440 0.0035 ]; %! %! Be = [ 0.0015 %! -0.0202 %! 0.0159 %! -0.0544 ]; %! %! Ce = [ 0.3534 0.0274 0.0337 -0.0320 ]; %! %! De = [ 0.0000 ]; %! %! HSVe = [ 4.9078 4.8745 3.8455 3.7811 1.2289 1.1785 0.5176 0.1148 ].'; %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [Ae, Be; Ce, De]; %! %!assert (Mo, Me, 1e-4); %!assert (Info.hsv, HSVe, 1e-4); control-3.2.0/inst/PaxHeaders.3947/__adjust_iddata__.m0000644000000000000000000000013213450727360017415 xustar0030 mtime=1554231024.329418705 30 atime=1554231024.329418705 30 ctime=1554231028.525576056 control-3.2.0/inst/__adjust_iddata__.m0000644000175000017500000000212213450727360017653 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## Author: Lukas Reichlin ## Created: February 2012 ## Version: 0.1 function [y, u] = __adjust_iddata__ (y, u) if (iscell (y)) y = reshape (y, [], 1); else y = {y}; endif if (isempty (u)) u = {}; # avoid [](nx0) and the like elseif (iscell (u)) u = reshape (u, [], 1); else u = {u}; endif endfunction control-3.2.0/inst/PaxHeaders.3947/lqe.m0000644000000000000000000000013213450727360014602 xustar0030 mtime=1554231024.533426494 30 atime=1554231024.533426494 30 ctime=1554231028.525576056 control-3.2.0/inst/lqe.m0000644000175000017500000001000313450727360015035 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## Copyright (C) 2012 Megan Zagrobelny ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{sys}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{sys}, @var{q}, @var{r}, @var{s}) ## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r}, @var{s}) ## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{l}, @var{p}, @var{e}] =} lqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r}, @var{s}) ## Kalman filter for continuous-time systems. ## ## @example ## @group ## . ## x = Ax + Bu + Gw (State equation) ## y = Cx + Du + v (Measurement Equation) ## E(w) = 0, E(v) = 0, cov(w) = Q, cov(v) = R, cov(w,v) = S ## @end group ## @end example ## ## @strong{Inputs} ## @table @var ## @item sys ## Continuous or discrete-time @acronym{LTI} model (p-by-m, n states). ## @item a ## State matrix of continuous-time system (n-by-n). ## @item g ## Process noise matrix of continuous-time system (n-by-g). ## If @var{g} is empty @code{[]}, an identity matrix is assumed. ## @item c ## Measurement matrix of continuous-time system (p-by-n). ## @item q ## Process noise covariance matrix (g-by-g). ## @item r ## Measurement noise covariance matrix (p-by-p). ## @item s ## Optional cross term covariance matrix (g-by-p), s = cov(w,v). ## If @var{s} is empty @code{[]} or not specified, a zero matrix is assumed. ## @end table ## ## @strong{Outputs} ## @table @var ## @item l ## Kalman filter gain matrix (n-by-p). ## @item p ## Unique stabilizing solution of the continuous-time Riccati equation (n-by-n). ## Symmetric matrix. If @var{sys} is a discrete-time model, the solution of the ## corresponding discrete-time Riccati equation is returned. ## @item e ## Closed-loop poles (n-by-1). ## @end table ## ## @strong{Equations} ## @example ## @group ## . ## x = Ax + Bu + L(y - Cx -Du) ## ## E = eig(A - L*C) ## ## @end group ## @end example ## @seealso{dare, care, dlqr, lqr, dlqe} ## @end deftypefn ## Author: Lukas Reichlin ## Created: April 2012 ## Version: 0.1 function [l, p, e] = lqe (a, g, c, q = [], r = [], s = []) if (nargin < 3 || nargin > 6) print_usage (); endif if (isa (a, "lti")) [l, p, e] = lqr (a.', g, c, q); # lqe (sys, q, r, s), g=I, works like lqr (sys.', q, r, s).' elseif (isempty (g)) [l, p, e] = lqr (a.', c.', q, r, s); # lqe (a, [], c, q, r, s), g=I, works like lqr (a.', c.', q, r, s).' elseif (columns (g) != rows (q) || ! issquare (q)) error ("lqe: matrices g(%dx%d) and q(%dx%d) have incompatible dimensions", ... rows (g), columns (g), rows (q), columns (q)); elseif (isempty (s)) [l, p, e] = lqr (a.', c.', g*q*g.', r); elseif (columns (g) != rows (s)) error ("lqe: matrices g(%dx%d) and s(%dx%d) have incompatible dimensions", ... rows (g), columns (g), rows (s), columns (s)); else [l, p, e] = lqr (a.', c.', g*q*g.', r, g*s); endif l = l.'; ## NOTE: for discrete-time sys, the solution L' from DARE ## is different to L from DLQE (a, s) endfunction control-3.2.0/inst/PaxHeaders.3947/__dss2ss__.m0000644000000000000000000000013213450727360016036 xustar0030 mtime=1554231024.345419316 30 atime=1554231024.345419316 30 ctime=1554231028.525576056 control-3.2.0/inst/__dss2ss__.m0000644000175000017500000000665113450727360016307 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Convert descriptor state-space system into regular state-space form. ## Author: Lukas Reichlin ## Created: September 2011 ## Version: 0.3 function [a, b, c, d, e] = __dss2ss__ (a, b, c, d, e) if (isempty (e)) return; elseif (rcond (e) < eps) # check for singularity ## check whether regular state-space representation is possible [~, ~, ~, ~, ranke, rnka22] = __sl_tg01fd__ (a, e, b, c, false, 0); if (ranke+rnka22 < rows (a)) error ("dss:improper", "ss: dss2ss: this descriptor system cannot be converted to regular state-space form"); endif endif [a, b, c, d] = __sl_sb10jd__ (a, b, c, d, e); e = []; endfunction ## Test from SLICOT TG01FD %!shared a, b, c, e, ranke, rnka22, q, z, a_exp, b_exp, c_exp, e_exp, q_exp, z_exp %! %! e = [1, 2, 0, 0; 0, 1, 0, 1; 3, 9, 6, 3; 0, 0, 2, 0]; %! a = [-1, 0, 0, 3; 0, 0, 1, 2; 1, 1, 0, 4; 0, 0, 0, 0]; %! b = [1, 0; 0, 0; 0, 1; 1, 1]; %! c = [-1, 0, 1, 0; 0, 1, -1, 1]; %! %! [a, e, b, c, ranke, rnka22, q, z] = __sl_tg01fd__ (a, e, b, c, true, 0.0); %! %! e_exp = [10.1587 5.8230 1.3021 0.0000; %! 0.0000 -2.4684 -0.1896 0.0000; %! 0.0000 0.0000 1.0338 0.0000; %! 0.0000 0.0000 0.0000 0.0000]; %! %! a_exp = [ 2.0278 0.1078 3.9062 -2.1571; %! -0.0980 0.2544 1.6053 -0.1269; %! 0.2713 0.7760 -0.3692 -0.4853; %! 0.0690 -0.5669 -2.1974 0.3086]; %! %! b_exp = [-0.2157 -0.9705; %! 0.3015 0.9516; %! 0.7595 0.0991; %! 1.1339 0.3780]; %! %! c_exp = [ 0.3651 -1.0000 -0.4472 -0.8165; %! -1.0954 1.0000 -0.8944 0.0000]; %! %! q_exp = [-0.2157 -0.5088 0.6109 0.5669; %! -0.1078 -0.2544 -0.7760 0.5669; %! -0.9705 0.1413 -0.0495 -0.1890; %! 0.0000 0.8102 0.1486 0.5669]; %! %! z_exp = [-0.3651 0.0000 0.4472 0.8165; %! -0.9129 0.0000 0.0000 -0.4082; %! 0.0000 -1.0000 0.0000 0.0000; %! -0.1826 0.0000 -0.8944 0.4082]; %! %!assert (a, a_exp, 1e-4); %!assert (e, e_exp, 1e-4); %!assert (b, b_exp, 1e-4); %!assert (c, c_exp, 1e-4); %!assert (q, q_exp, 1e-4); %!assert (z, z_exp, 1e-4); %!assert (ranke, 3); %!assert (rnka22, 1); ## test error %!shared mms %! %! mm = tf ([3, 5, 0], [4, 1]); %! mms = ss (mm); %!error (__dss2ss__ (mms.a, mms.b, mms.c, mms.d, mms.e)); ## Realizable descriptor system with singular E matrix %!test %! A = [1 0; 0 1]; %! B = [1; 0]; %! C = [1 0]; %! D = 0; %! E = [1 0; 0 0]; %! %! sys = dss (A, B, C, D, E); %! [Ao, Bo, Co, Do] = ssdata (sys); %! %! assert (Ao, 1, 1e-4); %! assert (Bo, 1, 1e-4); %! assert (Co, 1, 1e-4); %! assert (Do, 0, 1e-4); control-3.2.0/inst/PaxHeaders.3947/sumblk.m0000644000000000000000000000013213450727360015316 xustar0030 mtime=1554231024.589428632 30 atime=1554231024.589428632 30 ctime=1554231028.525576056 control-3.2.0/inst/sumblk.m0000644000175000017500000000707213450727360015565 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{S} =} sumblk (@var{formula}) ## @deftypefnx{Function File} {@var{S} =} sumblk (@var{formula}, @var{n}) ## Create summing junction @var{S} from string @var{formula} ## for name-based interconnections. ## ## @strong{Inputs} ## @table @var ## @item formula ## String containing the formula of the summing junction, ## e.g. @code{e = r - y + d} ## @item n ## Signal size. Default value is 1. ## @end table ## ## @strong{Outputs} ## @table @var ## @item S ## State-space model of the summing junction. ## @end table ## ## @strong{Example} ## @example ## @group ## octave:1> S = sumblk ('e = r - y + d') ## ## S.d = ## r y d ## e 1 -1 1 ## ## Static gain. ## octave:2> S = sumblk ('e = r - y + d', 2) ## ## S.d = ## r1 r2 y1 y2 d1 d2 ## e1 1 0 -1 0 1 0 ## e2 0 1 0 -1 0 1 ## ## Static gain. ## @end group ## @end example ## @seealso{connect} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2013 ## Version: 0.2 function s = sumblk (formula, n = 1) if (nargin == 0 || nargin > 2) print_usage (); endif if (! ischar (formula)) error ("sumblk: require string as first argument"); endif if (! is_real_scalar (n) || n < 1) error ("sumblk: require integer as second argument"); endif if (length (strfind (formula, "=")) != 1) error ("sumblk: formula requires exactly one '='"); endif ## if the first signal has no sign, add a plus if (isempty (regexp (formula, "=\\s*[+-]", "once"))) formula = regexprep (formula, "=", "=+", "once"); endif ## extract operators, remove "=" from formula operator = regexp (formula, "[=+-]", "match"); if (! strcmp (operator{1}, "=")) error ("sumblk: formula has misplaced '='"); endif operator = operator(2:end); formula = formula(formula != "="); ## extract signal names signal = regexp (formula, "\\s*[+-]\\s*", "split"); if (any (cellfun (@isempty, signal))) error ("sumblk: formula is missing some input/output names"); endif outname = signal(1); inname = signal(2:end); signs = ones (1, numel (inname)); signs(strcmp (operator, "-")) = -1; d = kron (signs, eye (n)); s = ss (d); ## NOTE: the dark side returns a tf, but i prefer an ss model ## because in general, transfer functions and mimo ## interconnections don't mix well if (n > 1) outgroup = struct (outname{1}, 1:n); outname = strseq (outname{1}, 1:n); idx = 1 : n*numel (inname); idx = reshape (idx, n, []); idx = num2cell (idx, 1); ingroup = cell2struct (idx, inname, 2); tmp = cellfun (@strseq, inname, {1:n}, "uniformoutput", false); inname = vertcat (tmp{:}); s = set (s, "outgroup", outgroup, "ingroup", ingroup); endif s = set (s, "inname", inname, "outname", outname); endfunction control-3.2.0/inst/PaxHeaders.3947/ctrb.m0000644000000000000000000000013213450727360014753 xustar0030 mtime=1554231024.453423439 30 atime=1554231024.453423439 30 ctime=1554231028.525576056 control-3.2.0/inst/ctrb.m0000644000175000017500000000427113450727360015220 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## Copyright (C) 2009 Luca Favatella ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{co} =} ctrb (@var{sys}) ## @deftypefnx {Function File} {@var{co} =} ctrb (@var{a}, @var{b}) ## Return controllability matrix. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @item a ## State matrix (n-by-n). ## @item b ## Input matrix (n-by-m). ## @end table ## ## @strong{Outputs} ## @table @var ## @item co ## Controllability matrix. ## @end table ## ## @strong{Equation} ## @iftex ## @tex ## $$ C_o = [ B \\ \\ AB \\ \\ A^2B \\ \\ldots \\ A^{n-1}B ] $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## 2 n-1 ## Co = [ B AB A B ... A B ] ## @end example ## @end ifnottex ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function co = ctrb (a, b) if (nargin == 1) # ctrb (sys) if (! isa (a, "lti")) error ("ctrb: argument must be an lti system"); endif [a, b] = ssdata (a); elseif (nargin == 2) # ctrb (a, b) if (! is_real_square_matrix (a) || ! is_real_matrix (b) || rows (a) != rows (b)) error ("ctrb: invalid arguments (a, b)"); endif else print_usage (); endif n = rows (a); # number of states k = 0:n-1; # exponents for a tmp = arrayfun (@(x) a^x*b, k, "uniformoutput", false); co = horzcat (tmp{:}); endfunction %!assert (ctrb ([1, 0; 0, -0.5], [8; 8]), [8, 8; 8, -4]); control-3.2.0/inst/PaxHeaders.3947/gensig.m0000644000000000000000000000013213450727360015275 xustar0030 mtime=1554231024.489424814 30 atime=1554231024.489424814 30 ctime=1554231028.525576056 control-3.2.0/inst/gensig.m0000644000175000017500000000537413450727360015547 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{u}, @var{t}] =} gensig (@var{sigtype}, @var{tau}) ## @deftypefnx{Function File} {[@var{u}, @var{t}] =} gensig (@var{sigtype}, @var{tau}, @var{tfinal}) ## @deftypefnx{Function File} {[@var{u}, @var{t}] =} gensig (@var{sigtype}, @var{tau}, @var{tfinal}, @var{tsam}) ## Generate periodic signal. Useful in combination with lsim. ## ## @strong{Inputs} ## @table @var ## @item sigtype = "sin" ## Sine wave. ## @item sigtype = "cos" ## Cosine wave. ## @item sigtype = "square" ## Square wave. ## @item sigtype = "pulse" ## Periodic pulse. ## @item tau ## Duration of one period in seconds. ## @item tfinal ## Optional duration of the signal in seconds. Default duration is 5 periods. ## @item tsam ## Optional sampling time in seconds. Default spacing is tau/64. ## @end table ## ## @strong{Outputs} ## @table @var ## @item u ## Vector of signal values. ## @item t ## Time vector of the signal. ## @end table ## ## @seealso{lsim} ## @end deftypefn ## Author: Lukas Reichlin ## Created: August 2009 ## Version: 0.4 function [u, t] = gensig (sigtype, tau, tfinal, tsam) if (nargin < 2 || nargin > 4) print_usage (); endif if (! ischar (sigtype)) error ("gensig: first argument must be a string"); endif if (! issample (tau)) error ("gensig: second argument is not a valid period"); endif if (nargin < 3) tfinal = 5 * tau; elseif (! issample (tfinal)) error ("gensig: third argument is not a valid final time"); endif if (nargin < 4) tsam = tau / 64; elseif (! issample (tsam)) error ("gensig: fourth argument is not a valid sampling time"); endif t = reshape (0 : tsam : tfinal, [], 1); switch (lower (sigtype(1:2))) case "si" u = sin (2*pi/tau * t); case "co" u = cos (2*pi/tau * t); case "sq" u = double (rem (t, tau) >= tau/2); case "pu" u = double (rem (t, tau) < (1 - 1000*eps) * tsam); otherwise error ("gensig: '%s' is an invalid signal type", sigtype); endswitch endfunction control-3.2.0/inst/PaxHeaders.3947/__time_response__.m0000644000000000000000000000013013450727360017467 xustar0029 mtime=1554231024.42542237 29 atime=1554231024.42542237 30 ctime=1554231028.525576056 control-3.2.0/inst/__time_response__.m0000644000175000017500000003273313450727360017742 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Common code for the time response functions step, impulse and initial. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.5 function [y, t, x] = __time_response__ (response, args, nout) idx = cellfun (@islogical, args); tmp = cellfun (@double, args(idx), "uniformoutput", false); args(idx) = tmp; sys_idx = cellfun (@isa, args, {"lti"}); # LTI models mat_idx = cellfun (@is_real_matrix, args); # matrices sty_idx = cellfun (@ischar, args); # strings (style arguments) inv_idx = ! (sys_idx | mat_idx | sty_idx); # invalid arguments if (any (inv_idx)) warning ("%s: arguments number %s are invalid and are being ignored", ... response, mat2str (find (inv_idx)(:).')); endif if (nnz (sys_idx) == 0) error ("%s: require at least one LTI model", response); endif if (nout > 0 && (nnz (sys_idx) > 1 || any (sty_idx))) evalin ("caller", "print_usage ()"); endif if (! size_equal (args{sys_idx})) error ("%s: all LTI models must have equal size", response); endif if (any (find (sty_idx) < find (sys_idx)(1))) warning ("%s: strings in front of first LTI model are being ignored", response); endif tfinal = []; dt = []; x0 = []; # default arguments switch (response) case "initial" switch (nnz (mat_idx)) case 0 error ("initial: require initial state vector 'x0'"); case 1 x0 = args{mat_idx}; case 2 [x0, tfinal] = args{mat_idx}; case 3 [x0, tfinal, dt] = args{mat_idx}; otherwise evalin ("caller", "print_usage ()"); endswitch if (! is_real_vector (x0)) error ("initial: initial state vector 'x0' must be a real-valued vector"); endif case {"step", "impulse", "ramp"} switch (nnz (mat_idx)) case 0 ## nothing to here, just prevent case 'otherwise' case 1 tfinal = args{mat_idx}; case 2 [tfinal, dt] = args{mat_idx}; otherwise evalin ("caller", "print_usage ()"); endswitch otherwise error ("time_response: invalid response type '%s'", response); endswitch switch (response) case "step" response1 = "zoh"; case "impulse" response1 = "impulse"; otherwise response1 = "zoh"; endswitch if (issample (tfinal) || isempty (tfinal)) ## nothing to do here elseif (is_real_vector (tfinal)) dt = abs (tfinal(end) - tfinal(1)) / (length (tfinal) - 1); tfinal = abs (tfinal(end)); else evalin ("caller", "print_usage ()"); endif if (isempty (dt)) ## nothing to do here elseif (issample (dt)) ## nothing to do here else evalin ("caller", "print_usage ()"); endif [tfinal, dt] = cellfun (@__sim_horizon__, args(sys_idx), {tfinal}, {dt}, "uniformoutput", false); tfinal = max ([tfinal{:}]); ct_idx = cellfun (@isct, args(sys_idx)); sys_dt = args(sys_idx); tmp = cellfun (@c2d, args(sys_idx)(ct_idx), dt(ct_idx), {response1}, "uniformoutput", false); sys_dt(ct_idx) = tmp; ## time vector t = cellfun (@(dt) vec (linspace (0, tfinal, tfinal/dt+1)), dt, "uniformoutput", false); ## alternative code ## t = cellfun (@(dt) vec (0 : dt : tfinal), dt, "uniformoutput", false); ## function [y, x_arr] = __initial_response__ (sys_dt, t, x0) ## function [y, x_arr] = __step_response__ (sys_dt, t) ## function [y, x_arr] = __impulse_response__ (sys, sys_dt, t) ## function [y, x_arr] = __ramp_response__ (sys_dt, t) switch (response) case "initial" [y, x] = cellfun (@__initial_response__, sys_dt, t, {x0}, "uniformoutput", false); case "step" [y, x] = cellfun (@__step_response__, sys_dt, t, "uniformoutput", false); case "impulse" [y, x] = cellfun (@__impulse_response__, args(sys_idx), sys_dt, t, "uniformoutput", false); case "ramp" [y, x] = cellfun (@__ramp_response__, sys_dt, t, "uniformoutput", false); otherwise error ("time_response: invalid response type"); endswitch if (nout == 0) # display plot ## extract plotting styles tmp = cumsum (sys_idx); tmp(sys_idx | ! sty_idx) = 0; n_sys = nnz (sys_idx); sty = arrayfun (@(x) args(tmp == x), 1:n_sys, "uniformoutput", false); ## default plotting styles if empty colororder = get (gca, "colororder"); rc = rows (colororder); def = arrayfun (@(k) {"color", colororder(1+rem (k-1, rc), :)}, 1:n_sys, "uniformoutput", false); idx = cellfun (@isempty, sty); sty(idx) = def(idx); ## get system names for legend leg = cell (1, n_sys); idx = find (sys_idx); for k = 1 : n_sys leg{k} = evalin ("caller", sprintf ("inputname(%d)", idx(k)), "''"); endfor outname = get (args(sys_idx){end}, "outname"); outname = __labels__ (outname, "y"); [p, m] = size (args(sys_idx){1}); switch (response) case "initial" str = "Response to Initial Conditions"; cols = 1; ## yfinal = zeros (p, 1); case "step" str = "Step Response"; cols = m; ## yfinal = dcgain (sys_cell{1}); case "impulse" str = "Impulse Response"; cols = m; ## yfinal = zeros (p, m); case "ramp" str = "Ramp Response"; cols = m; otherwise error ("time_response: invalid response type"); endswitch for k = 1 : n_sys # for every system if (ct_idx(k)) # continuous-time system for i = 1 : p # for every output for j = 1 : cols # for every input (except for initial where cols=1) if (p != 1 || cols != 1) subplot (p, cols, (i-1)*cols+j); endif plot (t{k}, y{k}(:, i, j), sty{k}{:}); hold on; grid on; if (k == n_sys) axis tight ylim (__axis_margin__ (ylim)) if (j == 1) ylabel (outname{i}); if (i == 1) title (str); endif endif endif endfor endfor else # discrete-time system for i = 1 : p # for every output for j = 1 : cols # for every input (except for initial where cols=1) if (p != 1 || cols != 1) subplot (p, cols, (i-1)*cols+j); endif stairs (t{k}, y{k}(:, i, j), sty{k}{:}); hold on; grid on; if (k == n_sys) axis tight; ylim (__axis_margin__ (ylim)) if (j == 1) ylabel (outname{i}); if (i == 1) title (str); endif endif endif endfor endfor endif endfor xlabel ("Time [s]"); if (p == 1 && m == 1) legend (leg) endif hold off; endif endfunction function [y, x_arr] = __initial_response__ (sys_dt, t, x0) [F, G, C, D] = ssdata (sys_dt); # system must be proper n = rows (F); # number of states m = columns (G); # number of inputs p = rows (C); # number of outputs l_t = length (t); ## preallocate memory y = zeros (l_t, p); x_arr = zeros (l_t, n); ## initial conditions x = reshape (x0, [], 1); # make sure that x is a column vector if (n != length (x0) || ! is_real_vector (x0)) error ("initial: x0 must be a real vector with %d elements", n); endif ## simulation for k = 1 : l_t y(k, :) = C * x; x_arr(k, :) = x; x = F * x; endfor endfunction function [y, x_arr] = __step_response__ (sys_dt, t) [F, G, C, D] = ssdata (sys_dt); # system must be proper n = rows (F); # number of states m = columns (G); # number of inputs p = rows (C); # number of outputs l_t = length (t); ## preallocate memory y = zeros (l_t, p, m); x_arr = zeros (l_t, n, m); for j = 1 : m # for every input channel ## initial conditions x = zeros (n, 1); u = zeros (m, 1); u(j) = 1; ## simulation for k = 1 : l_t y(k, :, j) = C * x + D * u; x_arr(k, :, j) = x; x = F * x + G * u; endfor endfor endfunction function [y, x_arr] = __impulse_response__ (sys, sys_dt, t) # [~, B] = ssdata (sys); [F, G, C, D, dt] = ssdata (sys_dt); # system must be proper dt = abs (dt); # use 1 second if tsam is unspecified (-1) discrete = ! isct (sys_dt); n = rows (F); # number of states m = columns (G); # number of inputs p = rows (C); # number of outputs l_t = length (t); ## preallocate memory y = zeros (l_t, p, m); x_arr = zeros (l_t, n, m); for j = 1 : m # for every input channel ## initial conditions u = zeros (m, 1); u(j) = 1; if (discrete) x = zeros (n, 1); # zero by definition y(1, :, j) = D * u / dt; x_arr(1, :, j) = x; x = G * u / dt; else x = G * u; #NO NO B, not G! y(1, :, j) = C * x; x_arr(1, :, j) = x; x = F * x; endif ## simulation for k = 2 : l_t y (k, :, j) = C * x; x_arr(k, :, j) = x; x = F * x; endfor endfor if (discrete) y *= dt; x_arr *= dt; endif endfunction function [y, x_arr] = __ramp_response__ (sys_dt, t) [F, G, C, D] = ssdata (sys_dt); # system must be proper n = rows (F); # number of states m = columns (G); # number of inputs p = rows (C); # number of outputs l_t = length (t); ## preallocate memory y = zeros (l_t, p, m); x_arr = zeros (l_t, n, m); for j = 1 : m # for every input channel ## initial conditions x = zeros (n, 1); u = zeros (m, l_t); u(j, :) = t; ## simulation for k = 1 : l_t y(k, :, j) = C * x + D * u(:, k); x_arr(k, :, j) = x; x = F * x + G * u(:, k); endfor endfor endfunction function [tfinal, dt] = __sim_horizon__ (sys, tfinal, Ts) ## code based on __stepimp__.m of Kai P. Mueller and A. Scottedward Hodel TOL = 1.0e-10; # values below TOL are assumed to be zero N_MIN = 50; # min number of points N_MAX = 2000; # max number of points N_DEF = 1000; # default number of points T_DEF = 10; # default simulation time ev = pole (sys); n = length (ev); # number of states/poles continuous = isct (sys); discrete = ! continuous; if (discrete) dt = Ts = abs (get (sys, "tsam")); ## perform bilinear transformation on poles in z for k = 1 : n pol = ev(k); if (abs (pol + 1) < TOL) ev(k) = 0; else ev(k) = 2 / Ts * (pol - 1) / (pol + 1); endif endfor endif ## remove poles near zero from eigenvalue array ev nk = n; for k = 1 : n if (abs (real (ev(k))) < TOL) ev(k) = 0; nk -= 1; endif endfor if (nk == 0) if (isempty (tfinal)) tfinal = T_DEF; endif if (continuous) dt = tfinal / N_DEF; endif else ev = ev(find (ev)); ev_max = max (abs (ev)); if (continuous) dt = 0.2 * pi / ev_max; endif if (isempty (tfinal)) ev_min = min (abs (real (ev))); tfinal = 5.0 / ev_min; ## round up yy = 10^(ceil (log10 (tfinal)) - 1); tfinal = yy * ceil (tfinal / yy); endif if (continuous) N = tfinal / dt; if (N < N_MIN) dt = tfinal / N_MIN; endif if (N > N_MAX) dt = tfinal / N_MAX; endif endif endif if (continuous && ! isempty (Ts)) # catch case cont. system with dt specified dt = Ts; endif endfunction control-3.2.0/inst/PaxHeaders.3947/tfpolyones.m0000644000000000000000000000013213450727360016223 xustar0030 mtime=1554231024.593428785 30 atime=1554231024.593428785 30 ctime=1554231028.525576056 control-3.2.0/inst/tfpolyones.m0000644000175000017500000000177613450727360016477 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Return (pxm) cell of tfpoly([1]). For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function ret = tfpolyones (p, m) ret = cell (p, m); one = tfpoly ([1]); ret(:) = {one}; endfunction control-3.2.0/inst/PaxHeaders.3947/ncfsyn.m0000644000000000000000000000013013450727360015317 xustar0029 mtime=1554231024.55742741 29 atime=1554231024.55742741 30 ctime=1554231028.525576056 control-3.2.0/inst/ncfsyn.m0000644000175000017500000004761413450727360015576 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{info}] =} ncfsyn (@var{G}, @var{W1}, @var{W2}, @var{factor}) ## Loop shaping H-infinity synthesis. Compute positive feedback controller using ## the McFarlane/Glover loop shaping design procedure [1]. ## Using a precompensator @var{W1} and/or a postcompensator @var{W2}, the singular values ## of the nominal plant @var{G} are shaped to give a desired open-loop shape. ## The nominal plant @var{G} and shaping functions @var{W1}, @var{W2} are combined to ## form the shaped plant, @var{Gs} where @code{Gs = W2 G W1}. ## We assume that @var{W1} and @var{W2} are such that @var{Gs} contains no hidden modes. ## It is relatively easy to approximate the closed-loop requirements by the following ## open-loop objectives [2]: ## @enumerate ## @item For @emph{disturbance rejection} make ## @iftex ## @tex ## $\\underline{\\sigma}(W_2 G W_1)$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ## @end example ## @end ifnottex ## large; valid for frequencies at which ## @iftex ## @tex ## $\\underline{\\sigma}(G_S) \\gg 1$. ## @end tex ## @end iftex ## @ifnottex ## @example ## ## @end example ## @end ifnottex ## @item For @emph{noise attenuation} make ## @iftex ## @tex ## $\\overline{\\sigma}(W_2 G W_1)$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ## @end example ## @end ifnottex ## small; valid for frequencies at which ## @iftex ## @tex ## $\\overline{\\sigma}(G_S) \\ll 1$. ## @end tex ## @end iftex ## @ifnottex ## @example ## ## @end example ## @end ifnottex ## @item For @emph{reference tracking} make ## @iftex ## @tex ## $\\underline{\\sigma}(W_2 G W_1)$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ## @end example ## @end ifnottex ## large; valid for frequencies at which ## @iftex ## @tex ## $\\underline{\\sigma}(G_S) \\gg 1$. ## @end tex ## @end iftex ## @ifnottex ## @example ## ## @end example ## @end ifnottex ## @item For @emph{robust stability} to a multiplicative output perturbation ## @iftex ## @tex ## $G_p = (I + \\Delta) G$, make ## @end tex ## @end iftex ## @ifnottex ## @example ## ## @end example ## @end ifnottex ## @iftex ## @tex ## $\\overline{\\sigma}(W_2 G W_1)$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ## @end example ## @end ifnottex ## small; valid for frequencies at which ## @iftex ## @tex ## $\\overline{\\sigma}(G_S) \\ll 1$. ## @end tex ## @end iftex ## @ifnottex ## @example ## . ## @end example ## @end ifnottex ## @end enumerate ## Then a stabilizing controller @var{Ks} is synthesized for shaped plant @var{Gs}. ## The final positive feedback controller @var{K} is then constructed by combining ## the ## @iftex ## @tex ## $H_{\\infty}$ ## @end tex ## @end iftex ## @ifnottex ## @example ## H-infinity ## @end example ## @end ifnottex ## controller @var{Ks} with the shaping functions @var{W1} and @var{W2} ## such that @code{K = W1 Ks W2}. ## In [1] is stated further that the given robust stabilization objective can be ## interpreted as a ## @iftex ## @tex ## $H_{\\infty}$ ## @end tex ## @end iftex ## @ifnottex ## @example ## H-infinity ## @end example ## @end ifnottex ## problem formulation of minimizing the ## @iftex ## @tex ## $H_{\\infty}$ ## @end tex ## @end iftex ## @ifnottex ## @example ## H-infinity ## @end example ## @end ifnottex ## norm of the frequency weighted gain from disturbances on the plant input and output ## to the controller input and output as follows: ## @iftex ## @tex ## $$ \\underset{K}{\\min} \\, || N(K) ||_{\\infty}, $$ ## $$ N = | W_{1}^{-1}; W_2 G | \\ (I - K G)^{-1} \\ | W_1, \\ G W_{2}^{-1} | $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## -1 -1 -1 ## min || N(K) || , N = | W1 | (I - K G) | W1 G W2 | ## K oo | W2 G | ## @end example ## @end ifnottex ## @iftex ## @tex ## ## @end tex ## @end iftex ## ## @code{[K, N] = ncfsyn (G, W1, W2, f)} ## The function @command{ncfsyn} - the somewhat cryptic name stands ## for @emph{normalized coprime factorization synthesis} - allows the specification of ## an additional argument, factor @var{f}. Default value @code{f = 1} implies that an ## optimal controller is required, whereas @code{f > 1} implies that a suboptimal ## controller is required, achieving a performance that is @var{f} times less than optimal. ## ## ## @strong{Inputs} ## @table @var ## @item G ## @acronym{LTI} model of plant. ## @item W1 ## @acronym{LTI} model of precompensator. Model must be SISO or of appropriate size. ## An identity matrix is taken if @var{W1} is not specified or if an empty model ## @code{[]} is passed. ## @item W2 ## @acronym{LTI} model of postcompensator. Model must be SISO or of appropriate size. ## An identity matrix is taken if @var{W2} is not specified or if an empty model ## @code{[]} is passed. ## @item factor ## @code{factor = 1} implies that an optimal controller is required. ## @code{factor > 1} implies that a suboptimal controller is required, ## achieving a performance that is @var{factor} times less than optimal. ## Default value is 1. ## @end table ## ## @strong{Outputs} ## @table @var ## @item K ## State-space model of the H-infinity loop-shaping controller. ## Note that @var{K} is a @emph{positive} feedback controller. ## @item N ## State-space model of the closed loop depicted below. ## @item info ## Structure containing additional information. ## @item info.gamma ## L-infinity norm of @var{N}. @code{gamma = norm (N, inf)}. ## @item info.emax ## Nugap robustness. @code{emax = inv (gamma)}. ## @item info.Gs ## Shaped plant. @code{Gs = W2 * G * W1}. ## @item info.Ks ## Controller for shaped plant. @code{Ks = ncfsyn (Gs)}. ## @item info.rcond ## Estimates of the reciprocal condition numbers of the Riccati equations ## and a few other things. For details, see the description of the ## corresponding SLICOT routine. ## @end table ## ## @strong{Block Diagram of N} ## @example ## @group ## ## ^ z1 ^ z2 ## | | ## w1 + | +--------+ | +--------+ ## ----->(+)---+-->| Ks |----+--->(+)---->| Gs |----+ ## ^ + +--------+ ^ +--------+ | ## | w2 | | ## | | ## +-------------------------------------------------+ ## @end group ## @end example ## ## @strong{Algorithm}@* ## Uses SLICOT SB10ID, SB10KD and SB10ZD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @strong{References}@* ## [1] D. McFarlane and K. Glover, ## @cite{A Loop Shaping Design Procedure Using H-infinity Synthesis}, ## IEEE Transactions on Automatic Control, Vol. 37, No. 6, June 1992.@* ## [2] S. Skogestad and I. Postlethwaite, ## @cite{Multivariable Feedback Control: Analysis and Design: ## Second Edition}. Wiley, Chichester, England, 2005.@* ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: July 2011 ## Version: 0.3 function [K, varargout] = ncfsyn (G, W1 = [], W2 = [], factor = 1.0) if (nargin == 0 || nargin > 4) print_usage (); endif if (! isa (G, "lti")) error ("ncfsyn: first argument must be an LTI system"); endif if (! is_real_scalar (factor) || factor < 1.0) error ("ncfsyn: fourth argument invalid"); endif [p, m] = size (G); W1 = __adjust_weighting__ (W1, m); W2 = __adjust_weighting__ (W2, p); Gs = W2 * G * W1; # shaped plant [a, b, c, d, tsam] = ssdata (Gs); ## synthesis if (isct (Gs)) # continuous-time [ak, bk, ck, dk, rcond] = __sl_sb10id__ (a, b, c, d, factor); elseif (any (d(:))) # discrete-time, d != 0 [ak, bk, ck, dk, rcond] = __sl_sb10zd__ (a, b, c, d, factor, 0.0); else # discrete-time, d == 0 [ak, bk, ck, dk, rcond] = __sl_sb10kd__ (a, b, c, factor); endif ## controller Ks = ss (ak, bk, ck, dk, tsam); K = W1 * Ks * W2; if (nargout > 1) ## FIXME: is this really the same thing as the dark side does? N = blkdiag (eye (p), Ks, Gs); M = [zeros(p,p), zeros(p,m), eye(p); eye(p), zeros(p,m), zeros(p,p); zeros(m,p), eye(m), zeros(m,p)]; in_idx = [1:p, 2*p+(1:m)]; out_idx = 1:p+m; N = mconnect (N, M, in_idx, out_idx); varargout{1} = N; if (nargout > 2) gamma = norm (N, inf); varargout{2} = gamma; if (nargout > 3) varargout{3} = struct ("gamma", gamma, "emax", inv (gamma), "Gs", Gs, "Ks", Ks, "rcond", rcond); endif endif endif endfunction function W = __adjust_weighting__ (W, s) if (isempty (W)) W = ss (eye (s)); else W = ss (W); ## if (! isstable (W)) ## error ("ncfsyn: %s must be stable", inputname (1)); ## endif ## if (! isminimumphase (W)) ## error ("ncfsyn: %s must be minimum-phase", inputname (1)); ## endif [p, m] = size (W); if (m == s && p == s) # model is of correct size return; elseif (m == 1 && p == 1) # model is SISO tmp = cell (s, 1); tmp(1:s) = W; W = blkdiag (tmp{:}); # stack SISO model s times else # model is invalid error ("ncfsyn: %s must have 1 or %d inputs and outputs", inputname (1), s); endif endif endfunction ## continuous-time case, direct access to sb10id %!shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe %! A = [ -1.0 0.0 4.0 5.0 -3.0 -2.0 %! -2.0 4.0 -7.0 -2.0 0.0 3.0 %! -6.0 9.0 -5.0 0.0 2.0 -1.0 %! -8.0 4.0 7.0 -1.0 -3.0 0.0 %! 2.0 5.0 8.0 -9.0 1.0 -4.0 %! 3.0 -5.0 8.0 0.0 2.0 -6.0 ]; %! %! B = [ -3.0 -4.0 %! 2.0 0.0 %! -5.0 -7.0 %! 4.0 -6.0 %! -3.0 9.0 %! 1.0 -2.0 ]; %! %! C = [ 1.0 -1.0 2.0 -4.0 0.0 -3.0 %! -3.0 0.0 5.0 -1.0 1.0 1.0 %! -7.0 5.0 0.0 -8.0 2.0 -2.0 ]; %! %! D = [ 1.0 -2.0 %! 0.0 4.0 %! 5.0 -3.0 ]; %! %! FACTOR = 1.0; %! %! [AK, BK, CK, DK, RCOND] = __sl_sb10id__ (A, B, C, D, FACTOR); %! %! AKe = [ -39.0671 9.9293 22.2322 -27.4113 43.8655 %! -6.6117 3.0006 11.0878 -11.4130 15.4269 %! 33.6805 -6.6934 -23.9953 14.1438 -33.4358 %! -32.3191 9.7316 25.4033 -24.0473 42.0517 %! -44.1655 18.7767 34.8873 -42.4369 50.8437 ]; %! %! BKe = [ -10.2905 -16.5382 -10.9782 %! -4.3598 -8.7525 -5.1447 %! 6.5962 1.8975 6.2316 %! -9.8770 -14.7041 -11.8778 %! -9.6726 -22.7309 -18.2692 ]; %! %! CKe = [ -0.6647 -0.0599 -1.0376 0.5619 1.7297 %! -8.4202 3.9573 7.3094 -7.6283 10.6768 ]; %! %! DKe = [ 0.8466 0.4979 -0.6993 %! -1.2226 -4.8689 -4.5056 ]; %! %! RCONDe = [ 0.13861D-01 0.90541D-02 ].'; %! %!assert (AK, AKe, 1e-4); %!assert (BK, BKe, 1e-4); %!assert (CK, CKe, 1e-4); %!assert (DK, DKe, 1e-4); %!assert (RCOND, RCONDe, 1e-4); ## continuous-time case %!shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe %! A = [ -1.0 0.0 4.0 5.0 -3.0 -2.0 %! -2.0 4.0 -7.0 -2.0 0.0 3.0 %! -6.0 9.0 -5.0 0.0 2.0 -1.0 %! -8.0 4.0 7.0 -1.0 -3.0 0.0 %! 2.0 5.0 8.0 -9.0 1.0 -4.0 %! 3.0 -5.0 8.0 0.0 2.0 -6.0 ]; %! %! B = [ -3.0 -4.0 %! 2.0 0.0 %! -5.0 -7.0 %! 4.0 -6.0 %! -3.0 9.0 %! 1.0 -2.0 ]; %! %! C = [ 1.0 -1.0 2.0 -4.0 0.0 -3.0 %! -3.0 0.0 5.0 -1.0 1.0 1.0 %! -7.0 5.0 0.0 -8.0 2.0 -2.0 ]; %! %! D = [ 1.0 -2.0 %! 0.0 4.0 %! 5.0 -3.0 ]; %! %! FACTOR = 1.0; %! %! G = ss (A, B, C, D); %! K = ncfsyn (G, [], [], FACTOR); %! [AK, BK, CK, DK] = ssdata (K); %! %! AKe = [ -39.0671 9.9293 22.2322 -27.4113 43.8655 %! -6.6117 3.0006 11.0878 -11.4130 15.4269 %! 33.6805 -6.6934 -23.9953 14.1438 -33.4358 %! -32.3191 9.7316 25.4033 -24.0473 42.0517 %! -44.1655 18.7767 34.8873 -42.4369 50.8437 ]; %! %! BKe = [ -10.2905 -16.5382 -10.9782 %! -4.3598 -8.7525 -5.1447 %! 6.5962 1.8975 6.2316 %! -9.8770 -14.7041 -11.8778 %! -9.6726 -22.7309 -18.2692 ]; %! %! CKe = [ -0.6647 -0.0599 -1.0376 0.5619 1.7297 %! -8.4202 3.9573 7.3094 -7.6283 10.6768 ]; %! %! DKe = [ 0.8466 0.4979 -0.6993 %! -1.2226 -4.8689 -4.5056 ]; %! %! RCONDe = [ 0.13861D-01 0.90541D-02 ]; %! %!assert (AK, AKe, 1e-4); %!assert (BK, BKe, 1e-4); %!assert (CK, CKe, 1e-4); %!assert (DK, DKe, 1e-4); ## discrete-time case D==0, direct access to sb10kd %!shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe %! A = [ 0.2 0.0 0.3 0.0 -0.3 -0.1 %! -0.3 0.2 -0.4 -0.3 0.0 0.0 %! -0.1 0.1 -0.1 0.0 0.0 -0.3 %! 0.1 0.0 0.0 -0.1 -0.1 0.0 %! 0.0 0.3 0.6 0.2 0.1 -0.4 %! 0.2 -0.4 0.0 0.0 0.2 -0.2 ]; %! %! B = [ -1.0 -2.0 %! 1.0 3.0 %! -3.0 -4.0 %! 1.0 -2.0 %! 0.0 1.0 %! 1.0 5.0 ]; %! %! C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 %! -3.0 0.0 1.0 -1.0 1.0 -1.0 ]; %! %! FACTOR = 1.1; %! %! [AK, BK, CK, DK, RCOND] = __sl_sb10kd__ (A, B, C, FACTOR); %! %! AKe = [ 0.0337 0.0222 0.0858 0.1264 -0.1872 0.1547 %! 0.4457 0.0668 -0.2255 -0.3204 -0.4548 -0.0691 %! -0.2419 -0.2506 -0.0982 -0.1321 -0.0130 -0.0838 %! -0.4402 0.3654 -0.0335 -0.2444 0.6366 -0.6469 %! -0.3623 0.3854 0.4162 0.4502 0.0065 0.1261 %! -0.0121 -0.4377 0.0604 0.2265 -0.3389 0.4542 ]; %! %! BKe = [ 0.0931 -0.0269 %! -0.0872 0.1599 %! 0.0956 -0.1469 %! -0.1728 0.0129 %! 0.2022 -0.1154 %! 0.2419 -0.1737 ]; %! %! CKe = [ -0.3677 0.2188 0.0403 -0.0854 0.3564 -0.3535 %! 0.1624 -0.0708 0.0058 0.0606 -0.2163 0.1802 ]; %! %! DKe = [ -0.0857 -0.0246 %! 0.0460 0.0074 ]; %! %! RCONDe = [ 0.11269D-01 0.17596D-01 0.18225D+00 0.75968D-03 ].'; %! %!assert (AK, AKe, 1e-4); %!assert (BK, BKe, 1e-4); %!assert (CK, CKe, 1e-4); %!assert (DK, DKe, 1e-4); %!assert (RCOND, RCONDe, 1e-4); ## discrete-time case D==0 %!shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe %! A = [ 0.2 0.0 0.3 0.0 -0.3 -0.1 %! -0.3 0.2 -0.4 -0.3 0.0 0.0 %! -0.1 0.1 -0.1 0.0 0.0 -0.3 %! 0.1 0.0 0.0 -0.1 -0.1 0.0 %! 0.0 0.3 0.6 0.2 0.1 -0.4 %! 0.2 -0.4 0.0 0.0 0.2 -0.2 ]; %! %! B = [ -1.0 -2.0 %! 1.0 3.0 %! -3.0 -4.0 %! 1.0 -2.0 %! 0.0 1.0 %! 1.0 5.0 ]; %! %! C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 %! -3.0 0.0 1.0 -1.0 1.0 -1.0 ]; %! %! FACTOR = 1.1; %! %! G = ss (A, B, C, [], 1); # value of sampling time doesn't matter %! K = ncfsyn (G, [], [], FACTOR); %! [AK, BK, CK, DK] = ssdata (K); %! %! AKe = [ 0.0337 0.0222 0.0858 0.1264 -0.1872 0.1547 %! 0.4457 0.0668 -0.2255 -0.3204 -0.4548 -0.0691 %! -0.2419 -0.2506 -0.0982 -0.1321 -0.0130 -0.0838 %! -0.4402 0.3654 -0.0335 -0.2444 0.6366 -0.6469 %! -0.3623 0.3854 0.4162 0.4502 0.0065 0.1261 %! -0.0121 -0.4377 0.0604 0.2265 -0.3389 0.4542 ]; %! %! BKe = [ 0.0931 -0.0269 %! -0.0872 0.1599 %! 0.0956 -0.1469 %! -0.1728 0.0129 %! 0.2022 -0.1154 %! 0.2419 -0.1737 ]; %! %! CKe = [ -0.3677 0.2188 0.0403 -0.0854 0.3564 -0.3535 %! 0.1624 -0.0708 0.0058 0.0606 -0.2163 0.1802 ]; %! %! DKe = [ -0.0857 -0.0246 %! 0.0460 0.0074 ]; %! %! RCONDe = [ 0.11269D-01 0.17596D-01 0.18225D+00 0.75968D-03 ].'; %! %!assert (AK, AKe, 1e-4); %!assert (BK, BKe, 1e-4); %!assert (CK, CKe, 1e-4); %!assert (DK, DKe, 1e-4); ## discrete-time case D!=0, direct access to sb10zd %!shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe %! A = [ 0.2 0.0 3.0 0.0 -0.3 -0.1 %! -3.0 0.2 -0.4 -0.3 0.0 0.0 %! -0.1 0.1 -1.0 0.0 0.0 -3.0 %! 1.0 0.0 0.0 -1.0 -1.0 0.0 %! 0.0 0.3 0.6 2.0 0.1 -0.4 %! 0.2 -4.0 0.0 0.0 0.2 -2.0 ]; %! %! B = [ -1.0 -2.0 %! 1.0 3.0 %! -3.0 -4.0 %! 1.0 -2.0 %! 0.0 1.0 %! 1.0 5.0 ]; %! %! C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 %! -3.0 0.0 1.0 -1.0 1.0 -1.0 %! 2.0 4.0 -3.0 0.0 5.0 1.0 ]; %! %! D = [ 10.0 -6.0 %! -7.0 8.0 %! 2.0 -4.0 ]; %! %! FACTOR = 1.1; %! %! [AK, BK, CK, DK, RCOND] = __sl_sb10zd__ (A, B, C, D, FACTOR, 0.0); %! %! AKe = [ 1.0128 0.5101 -0.1546 1.1300 3.3759 0.4911 %! -2.1257 -1.4517 -0.4486 0.3493 -1.5506 -1.4296 %! -1.0930 -0.6026 -0.1344 0.2253 -1.5625 -0.6762 %! 0.3207 0.1698 0.2376 -1.1781 -0.8705 0.2896 %! 0.5017 0.9006 0.0668 2.3613 0.2049 0.3703 %! 1.0787 0.6703 0.2783 -0.7213 0.4918 0.7435 ]; %! %! BKe = [ 0.4132 0.3112 -0.8077 %! 0.2140 0.4253 0.1811 %! -0.0710 0.0807 0.3558 %! -0.0121 -0.2019 0.0249 %! 0.1047 0.1399 -0.0457 %! -0.2542 -0.3472 0.0523 ]; %! %! CKe = [ -0.0372 -0.0456 -0.0040 0.0962 -0.2059 -0.0571 %! 0.1999 0.2994 0.1335 -0.0251 -0.3108 0.2048 ]; %! %! DKe = [ 0.0629 -0.0022 0.0363 %! -0.0228 0.0195 0.0600 ]; %! %! RCONDe = [ 0.27949D-03 0.66679D-03 0.45677D-01 0.23433D-07 0.68495D-01 0.76854D-01 ].'; %! %!assert (AK, AKe, 1e-4); %!assert (BK, BKe, 1e-4); %!assert (CK, CKe, 1e-4); %!assert (DK, DKe, 1e-4); %!assert (RCOND, RCONDe, 1e-4); ## discrete-time case D!=0 %!shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe %! A = [ 0.2 0.0 3.0 0.0 -0.3 -0.1 %! -3.0 0.2 -0.4 -0.3 0.0 0.0 %! -0.1 0.1 -1.0 0.0 0.0 -3.0 %! 1.0 0.0 0.0 -1.0 -1.0 0.0 %! 0.0 0.3 0.6 2.0 0.1 -0.4 %! 0.2 -4.0 0.0 0.0 0.2 -2.0 ]; %! %! B = [ -1.0 -2.0 %! 1.0 3.0 %! -3.0 -4.0 %! 1.0 -2.0 %! 0.0 1.0 %! 1.0 5.0 ]; %! %! C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 %! -3.0 0.0 1.0 -1.0 1.0 -1.0 %! 2.0 4.0 -3.0 0.0 5.0 1.0 ]; %! %! D = [ 10.0 -6.0 %! -7.0 8.0 %! 2.0 -4.0 ]; %! %! FACTOR = 1.1; %! %! G = ss (A, B, C, D, 1); # value of sampling time doesn't matter %! K = ncfsyn (G, [], [], FACTOR); %! [AK, BK, CK, DK] = ssdata (K); %! %! AKe = [ 1.0128 0.5101 -0.1546 1.1300 3.3759 0.4911 %! -2.1257 -1.4517 -0.4486 0.3493 -1.5506 -1.4296 %! -1.0930 -0.6026 -0.1344 0.2253 -1.5625 -0.6762 %! 0.3207 0.1698 0.2376 -1.1781 -0.8705 0.2896 %! 0.5017 0.9006 0.0668 2.3613 0.2049 0.3703 %! 1.0787 0.6703 0.2783 -0.7213 0.4918 0.7435 ]; %! %! BKe = [ 0.4132 0.3112 -0.8077 %! 0.2140 0.4253 0.1811 %! -0.0710 0.0807 0.3558 %! -0.0121 -0.2019 0.0249 %! 0.1047 0.1399 -0.0457 %! -0.2542 -0.3472 0.0523 ]; %! %! CKe = [ -0.0372 -0.0456 -0.0040 0.0962 -0.2059 -0.0571 %! 0.1999 0.2994 0.1335 -0.0251 -0.3108 0.2048 ]; %! %! DKe = [ 0.0629 -0.0022 0.0363 %! -0.0228 0.0195 0.0600 ]; %! %! RCONDe = [ 0.27949D-03 0.66679D-03 0.45677D-01 0.23433D-07 0.68495D-01 0.76854D-01 ].'; %! %!assert (AK, AKe, 1e-4); %!assert (BK, BKe, 1e-4); %!assert (CK, CKe, 1e-4); %!assert (DK, DKe, 1e-4); control-3.2.0/inst/PaxHeaders.3947/estim.m0000644000000000000000000000013213450727360015142 xustar0030 mtime=1554231024.481424509 30 atime=1554231024.481424509 30 ctime=1554231028.525576056 control-3.2.0/inst/estim.m0000644000175000017500000001031313450727360015401 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{est} =} estim (@var{sys}, @var{l}) ## @deftypefnx {Function File} {@var{est} =} estim (@var{sys}, @var{l}, @var{sensors}, @var{known}) ## Return state estimator for a given estimator gain. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @item l ## State feedback matrix. ## @item sensors ## Indices of measured output signals y from @var{sys}. If omitted, all outputs are measured. ## @item known ## Indices of known input signals u (deterministic) to @var{sys}. All other inputs to @var{sys} ## are assumed stochastic (w). If argument @var{known} is omitted, no inputs u are known. ## @end table ## ## @strong{Outputs} ## @table @var ## @item est ## State-space model of estimator. ## @end table ## ## @strong{Block Diagram} ## @example ## @group ## u +-------+ ^ ## +---------------------------->| |-------> y ## | +-------+ + y | est | ^ ## u ----+--->| |----->(+)------>| |-------> x ## | sys | ^ + +-------+ ## w -------->| | | ## +-------+ | v ## @end group ## @end example ## ## @seealso{kalman, lqe, place} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 0.3 function est = estim (sys, l, sensors = [], known = []) if (nargin < 2 || nargin > 4) print_usage (); endif if (! isa (sys, "lti")) error ("estim: first argument must be an LTI system"); endif sys = ss (sys); # needed to get stname from tf models [a, b, c, d, e, tsam] = dssdata (sys, []); [inn, stn, outn, ing, outg] = get (sys, "inname", "stname", "outname", "ingroup", "outgroup"); if (isempty (sensors)) sensors = 1 : rows (c); endif if (ischar (sensors)) sensors = {sensors}; endif if (ischar (known)) known = {known}; endif if (iscell (sensors)) tmp = cellfun (@(x) __str2idx__ (outg, outn, x, "out"), sensors(:), "uniformoutput", false); sensors = vertcat (tmp{:}); endif if (iscell (known)) tmp = cellfun (@(x) __str2idx__ (ing, inn, x, "in"), known(:), "uniformoutput", false); known = vertcat (tmp{:}); endif m = length (known); n = rows (a); p = length (sensors); if (rows (l) != n) error ("estim: system '%s' has %d states, but the state estimator gain '%s' has %d rows", ... inputname (1), n, inputname (2), rows (l)); endif if (columns (l) != p) error ("estim: estimator gain '%s' has %d columns, but argument 'known' contains %d indices", ... inputname (2), columns (l), p); endif b = b(:, known); c = c(sensors, :); d = d(sensors, known); stname = __labels__ (stn, "xhat"); outname = vertcat (__labels__ (outn(sensors(:)), "yhat"), stname); inname = vertcat (__labels__ (inn(known(:)), "u"), __labels__ (outn(sensors(:)), "y")); f = a - l*c; g = [b - l*d, l]; h = [c; eye(n)]; j = [d, zeros(p, p); zeros(n, m), zeros(n, p)]; ## k = e; est = dss (f, g, h, j, e, tsam); est = set (est, "inname", inname, "stname", stname, "outname", outname); endfunction %!shared m, m_exp %! sys = ss (-2, 1, 1, 3); %! est = estim (sys, 5); %! [a, b, c, d] = ssdata (est); %! m = [a, b; c, d]; %! m_exp = [-7, 5; 1, 0; 1, 0]; %!assert (m, m_exp, 1e-4); %!shared m, m_exp %! sys = ss (-1, 2, 3, 4); %! est = estim (sys, 5); %! [a, b, c, d] = ssdata (est); %! m = [a, b; c, d]; %! m_exp = [-16, 5; 3, 0; 1, 0]; %!assert (m, m_exp, 1e-4); control-3.2.0/inst/PaxHeaders.3947/bstmodred.m0000644000000000000000000000013213450727360016004 xustar0030 mtime=1554231024.441422981 30 atime=1554231024.441422981 30 ctime=1554231028.525576056 control-3.2.0/inst/bstmodred.m0000644000175000017500000003040113450727360016243 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @var{nr}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @var{opt}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @var{nr}, @var{opt}, @dots{}) ## ## Model order reduction by Balanced Stochastic Truncation (BST) method. ## The aim of model reduction is to find an @acronym{LTI} system @var{Gr} of order ## @var{nr} (nr < n) such that the input-output behaviour of @var{Gr} ## approximates the one from original system @var{G}. ## ## BST is a relative error method which tries to minimize ## @iftex ## @tex ## $$ || G^{-1} (G-G_r) ||_{\\infty} = \\min $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## -1 ## ||G (G-Gr)|| = min ## inf ## @end example ## @end ifnottex ## ## ## ## @strong{Inputs} ## @table @var ## @item G ## @acronym{LTI} model to be reduced. ## @item nr ## The desired order of the resulting reduced order system @var{Gr}. ## If not specified, @var{nr} is chosen automatically according ## to the description of key @var{'order'}. ## @item @dots{} ## Optional pairs of keys and values. @code{"key1", value1, "key2", value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item Gr ## Reduced order state-space model. ## @item info ## Struct containing additional information. ## @table @var ## @item info.n ## The order of the original system @var{G}. ## @item info.ns ## The order of the @var{alpha}-stable subsystem of the original system @var{G}. ## @item info.hsv ## The Hankel singular values of the phase system corresponding ## to the @var{alpha}-stable part of the original system @var{G}. ## The @var{ns} Hankel singular values are ordered decreasingly. ## @item info.nu ## The order of the @var{alpha}-unstable subsystem of both the original ## system @var{G} and the reduced-order system @var{Gr}. ## @item info.nr ## The order of the obtained reduced order system @var{Gr}. ## @end table ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'order', 'nr' ## The desired order of the resulting reduced order system @var{Gr}. ## If not specified, @var{nr} is the sum of NU and the number of ## Hankel singular values greater than @code{MAX(TOL1,NS*EPS)}; ## @var{nr} can be further reduced to ensure that ## @code{HSV(NR-NU) > HSV(NR+1-NU)}. ## ## @item 'method' ## Approximation method for the H-infinity norm. ## Valid values corresponding to this key are: ## @table @var ## @item 'sr-bta', 'b' ## Use the square-root Balance & Truncate method. ## @item 'bfsr-bta', 'f' ## Use the balancing-free square-root Balance & Truncate method. Default method. ## @item 'sr-spa', 's' ## Use the square-root Singular Perturbation Approximation method. ## @item 'bfsr-spa', 'p' ## Use the balancing-free square-root Singular Perturbation Approximation method. ## @end table ## ## @item 'alpha' ## Specifies the ALPHA-stability boundary for the eigenvalues ## of the state dynamics matrix @var{G.A}. For a continuous-time ## system, ALPHA <= 0 is the boundary value for ## the real parts of eigenvalues, while for a discrete-time ## system, 0 <= ALPHA <= 1 represents the ## boundary value for the moduli of eigenvalues. ## The ALPHA-stability domain does not include the boundary. ## Default value is 0 for continuous-time systems and ## 1 for discrete-time systems. ## ## @item 'beta' ## Use @code{[G, beta*I]} as new system @var{G} to combine ## absolute and relative error methods. ## BETA > 0 specifies the absolute/relative error weighting ## parameter. A large positive value of BETA favours the ## minimization of the absolute approximation error, while a ## small value of BETA is appropriate for the minimization ## of the relative error. ## BETA = 0 means a pure relative error method and can be ## used only if rank(G.D) = rows(G.D) which means that ## the feedthrough matrice must not be rank-deficient. ## Default value is 0. ## ## @item 'tol1' ## If @var{'order'} is not specified, @var{tol1} contains the tolerance for ## determining the order of reduced system. ## For model reduction, the recommended value of @var{tol1} lies ## in the interval [0.00001, 0.001]. @var{tol1} < 1. ## If @var{tol1} <= 0 on entry, the used default value is ## @var{tol1} = NS*EPS, where NS is the number of ## ALPHA-stable eigenvalues of A and EPS is the machine ## precision. ## If @var{'order'} is specified, the value of @var{tol1} is ignored. ## ## @item 'tol2' ## The tolerance for determining the order of a minimal ## realization of the phase system (see METHOD) corresponding ## to the ALPHA-stable part of the given system. ## The recommended value is TOL2 = NS*EPS. TOL2 <= TOL1 < 1. ## This value is used by default if @var{'tol2'} is not specified ## or if TOL2 <= 0 on entry. ## ## @item 'equil', 'scale' ## Boolean indicating whether equilibration (scaling) should be ## performed on system @var{G} prior to order reduction. ## Default value is true if @code{G.scaled == false} and ## false if @code{G.scaled == true}. ## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs ## is of utmost importance. The input and output scaling can @strong{not} ## be done by the equilibration option or the @command{prescale} function ## because these functions perform state transformations only. ## Furthermore, signals should not be scaled simply to a certain range. ## For all inputs (or outputs), a certain change should be of the same ## importance for the model. ## @end table ## ## ## BST is often suitable to perform model reduction in order to obtain ## low order design models for controller synthesis. ## ## Approximation Properties: ## @itemize @bullet ## @item ## Guaranteed stability of reduced models ## @item ## Approximates simultaneously gain and phase ## @item ## Preserves non-minimum phase zeros ## @item ## Guaranteed a priori error bound ## @iftex ## @tex ## $$ || G^{-1} (G-G_r) ||_{\\infty} \\leq 2 \\sum_{j=r+1}^{n} {1+\\sigma_j \\over 1-\\sigma_j} - 1 $$ ## @end tex ## @end iftex ## @end itemize ## ## @strong{Algorithm}@* ## Uses SLICOT AB09HD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2011 ## Version: 0.1 function [Gr, info] = bstmodred (G, varargin) if (nargin == 0) print_usage (); endif if (! isa (G, "lti")) error ("bstmodred: first argument must be an LTI system"); endif if (nargin > 1) # bstmodred (G, ...) if (is_real_scalar (varargin{1})) # bstmodred (G, nr) varargin = horzcat (varargin(2:end), {"order"}, varargin(1)); endif if (isstruct (varargin{1})) # bstmodred (G, opt, ...), bstmodred (G, nr, opt, ...) varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end)); endif ## order placed at the end such that nr from bstmodred (G, nr, ...) ## and bstmodred (G, nr, opt, ...) overrides possible nr's from ## key/value-pairs and inside opt struct (later keys override former keys, ## nr > key/value > opt) endif nkv = numel (varargin); # number of keys and values if (rem (nkv, 2)) error ("bstmodred: keys and values must come in pairs"); endif [a, b, c, d, tsam, scaled] = ssdata (G); dt = isdt (G); ## default arguments alpha = __modred_default_alpha__ (dt); beta = 0; tol1 = 0; tol2 = 0; ordsel = 1; nr = 0; job = 1; ## handle keys and values for k = 1 : 2 : nkv key = lower (varargin{k}); val = varargin{k+1}; switch (key) case {"order", "nr"} [nr, ordsel] = __modred_check_order__ (val, rows (a)); case "tol1" tol1 = __modred_check_tol__ (val, "tol1"); case "tol2" tol2 = __modred_check_tol__ (val, "tol2"); case "alpha" alpha = __modred_check_alpha__ (val, dt); case "beta" if (! issample (val, 0)) error ("bstmodred: argument %s must be BETA >= 0", varargin{k}); endif beta = val; case "method" # approximation method switch (tolower (val)) case {"sr-bta", "b"} # 'B': use the square-root Balance & Truncate method job = 0; case {"bfsr-bta", "f"} # 'F': use the balancing-free square-root Balance & Truncate method job = 1; case {"sr-spa", "s"} # 'S': use the square-root Singular Perturbation Approximation method job = 2; case {"bfsr-spa", "p"} # 'P': use the balancing-free square-root Singular Perturbation Approximation method job = 3; otherwise error ("bstmodred: '%s' is an invalid approximation method", val); endswitch case {"equil", "equilibrate", "equilibration", "scale", "scaling"} scaled = __modred_check_equil__ (val); otherwise warning ("bstmodred: invalid property name '%s' ignored", key); endswitch endfor ## perform model order reduction [ar, br, cr, dr, nr, hsv, ns] = __sl_ab09hd__ (a, b, c, d, dt, scaled, job, nr, ordsel, alpha, beta, ... tol1, tol2); ## assemble reduced order model Gr = ss (ar, br, cr, dr, tsam); ## assemble info struct n = rows (a); nu = n - ns; info = struct ("n", n, "ns", ns, "hsv", hsv, "nu", nu, "nr", nr); endfunction %!shared Mo, Me, Info, HSVe %! A = [ -0.04165 0.0000 4.9200 -4.9200 0.0000 0.0000 0.0000 %! -5.2100 -12.500 0.0000 0.0000 0.0000 0.0000 0.0000 %! 0.0000 3.3300 -3.3300 0.0000 0.0000 0.0000 0.0000 %! 0.5450 0.0000 0.0000 0.0000 -0.5450 0.0000 0.0000 %! 0.0000 0.0000 0.0000 4.9200 -0.04165 0.0000 4.9200 %! 0.0000 0.0000 0.0000 0.0000 -5.2100 -12.500 0.0000 %! 0.0000 0.0000 0.0000 0.0000 0.0000 3.3300 -3.3300 ]; %! %! B = [ 0.0000 0.0000 %! 12.500 0.0000 %! 0.0000 0.0000 %! 0.0000 0.0000 %! 0.0000 0.0000 %! 0.0000 12.500 %! 0.0000 0.0000 ]; %! %! C = [ 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 ]; %! %! D = [ 0.0000 0.0000 %! 0.0000 0.0000 %! 0.0000 0.0000 ]; %! %! G = ss (A, B, C, D, "scaled", true); %! %! [Gr, Info] = bstmodred (G, "beta", 1.0, "tol1", 0.1, "tol2", 0.0); %! [Ao, Bo, Co, Do] = ssdata (Gr); %! %! Ae = [ 1.2729 0.0000 6.5947 0.0000 -3.4229 %! 0.0000 0.8169 0.0000 2.4821 0.0000 %! -2.9889 0.0000 -2.9028 0.0000 -0.3692 %! 0.0000 -3.3921 0.0000 -3.1126 0.0000 %! -1.4767 0.0000 -2.0339 0.0000 -0.6107 ]; %! %! Be = [ 0.1331 -0.1331 %! -0.0862 -0.0862 %! -2.6777 2.6777 %! -3.5767 -3.5767 %! -2.3033 2.3033 ]; %! %! Ce = [ -0.6907 -0.6882 0.0779 0.0958 -0.0038 %! 0.0676 0.0000 0.6532 0.0000 -0.7522 %! 0.6907 -0.6882 -0.0779 0.0958 0.0038 ]; %! %! De = [ 0.0000 0.0000 %! 0.0000 0.0000 %! 0.0000 0.0000 ]; %! %! HSVe = [ 0.8803 0.8506 0.8038 0.4494 0.3973 0.0214 0.0209 ].'; %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [Ae, Be; Ce, De]; %! %!assert (Mo, Me, 1e-4); %!assert (Info.hsv, HSVe, 1e-4); control-3.2.0/inst/PaxHeaders.3947/__remove_trailing_zeros__.m0000644000000000000000000000013213450727360021225 xustar0030 mtime=1554231024.393421149 30 atime=1554231024.393421149 30 ctime=1554231028.525576056 control-3.2.0/inst/__remove_trailing_zeros__.m0000644000175000017500000000213713450727360021471 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Remove trailing zeros from a polynomial, except for polynomials ## which are of length 1. For internal use only. ## Author: Lukas Reichlin ## Created: April 2012 ## Version: 0.1 function p = __remove_trailing_zeros__ (p) idx = find (p != 0); if (isempty (idx)) p = 0; else p = p(1 : idx(end)); endif endfunction control-3.2.0/inst/PaxHeaders.3947/tfpolyzeros.m0000644000000000000000000000013213450727360016421 xustar0030 mtime=1554231024.593428785 30 atime=1554231024.593428785 30 ctime=1554231028.525576056 control-3.2.0/inst/tfpolyzeros.m0000644000175000017500000000200113450727360016653 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Return (pxm) cell of tfpoly([0]). For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function ret = tfpolyzeros (p, m) ret = cell (p, m); zero = tfpoly ([0]); ret(:) = {zero}; endfunction control-3.2.0/inst/PaxHeaders.3947/optiPID.m0000644000000000000000000000013213450727360015331 xustar0030 mtime=1554231024.565427715 30 atime=1554231024.565427715 30 ctime=1554231028.525576056 control-3.2.0/inst/optiPID.m0000644000175000017500000001650513450727360015601 0ustar00olafolaf00000000000000%% -*- texinfo -*- %% Numerical optimization of a PID controller using an objective function. %% The objective function is located in the file @command{optiPIDfun}. %% Type @code{which optiPID} to locate, @code{edit optiPID} to open %% and simply @code{optiPID} to run the example file. %% In this example called @code{optiPID}, loosely based on [1], it is assumed %% that the plant %% @iftex %% @tex %% $$ P(s) = {1 \\over (s^{2} + s + 1)\\ (s + 1)^{4}} $$ %% @end tex %% @end iftex %% @ifnottex %% @example %% 1 %% P(s) = ----------------------- %% (s^2 + s + 1) (s + 1)^4 %% @end example %% @end ifnottex %% is controlled by a PID controller with second-order roll-off %% @iftex %% @tex %% $$ C(s) = k_p \\ (1 + {1 \\over T_i \\ s} + T_d \\ s) \\ {1 \\over (\\tau \\ s + 1)^{2}} $$ %% @end tex %% @end iftex %% @ifnottex %% @example %% 1 1 %% C(s) = Kp (1 + ---- + Td s) ------------- %% Ti s (tau s + 1)^2 %% @end example %% @end ifnottex %% in the usual negative feedback structure %% @iftex %% @tex %% $$ T(s) = {L(s) \\over 1 + L(s)} = {P(s) \\ C(s) \\over 1 + P(s) \\ C(s)} $$ %% @end tex %% @end iftex %% @ifnottex %% @example %% L(s) P(s) C(s) %% T(s) = -------- = ------------- %% 1 + L(s) 1 + P(s) C(s) %% @end example %% @end ifnottex %% The plant P(s) is of higher order but benign. The initial values for the %% controller parameters %% @iftex %% @tex %% $k_p$, $T_i$ and $T_d$ %% @end tex %% @end iftex %% @ifnottex %% Kp, Ti and Td %% @end ifnottex %% are obtained by applying the %% Astroem and Haegglund rules [2]. These values are to be improved using a %% numerical optimization as shown below. %% As with all numerical methods, this approach can never guarantee that a %% proposed solution is a global minimum. Therefore, good initial guesses for %% the parameters to be optimized are very important. %% The Octave function @code{fminsearch} minimizes the objective function @var{J}, %% which is chosen to be %% @iftex %% @tex %% $$ J(k_p, T_i, T_d) = \\mu_1 \\cdot \\int_0^{\\infty} \\! t \\ |e(t)| \\ dt \\ + \\ \\mu_2 \\cdot (|| y(t) ||_{\\infty} - 1) \\ + \\ \\mu_3 \\cdot ||S(jw)||_{\\infty} $$ %% @end tex %% @end iftex %% @ifnottex %% @example %% inf %% J(Kp, Ti, Td) = mu1 INT t |e(t)| dt + mu2 (||y(t)|| - 1) + mu3 ||S(jw)|| %% 0 inf inf %% @end example %% @end ifnottex %% This particular objective function penalizes the integral of time-weighted absolute error %% @iftex %% @tex %% $$ ITAE = \\int_0^{\\infty} \\! t \\ |e(t)| \\ dt $$ %% @end tex %% @end iftex %% @ifnottex %% @example %% inf %% ITAE = INT t |e(t)| dt %% 0 %% @end example %% @end ifnottex %% and the maximum overshoot %% @iftex %% @tex %% $$ y_{max} - 1 = || y(t) ||_{\\infty} - 1 $$ %% @end tex %% @end iftex %% @ifnottex %% @example %% y - 1 = ||y(t)|| - 1 %% max inf %% @end example %% @end ifnottex %% to a unity reference step %% @iftex %% @tex %% $r(t) = \\varepsilon (t)$ %% @end tex %% @end iftex %% in the time domain. In the frequency domain, the sensitivity %% @iftex %% @tex %% $$ M_s = ||S(jw)||_{\\infty} $$ %% @end tex %% @end iftex %% @ifnottex %% @example %% Ms = ||S(jw)|| %% inf %% @end example %% @end ifnottex %% is minimized for good robustness, where S(jw) denotes the @emph{sensitivity} transfer function %% @iftex %% @tex %% $$ S(s) = {1 \\over 1 + L(s)} = {1 \\over 1 + P(s) \\ C(s)} $$ %% @end tex %% @end iftex %% @ifnottex %% @example %% 1 1 %% S(s) = -------- = ------------- %% 1 + L(s) 1 + P(s) C(s) %% @end example %% @end ifnottex %% The constants %% @iftex %% @tex %% $\\mu_1$, $\\mu_2$ and $\\mu_3$ %% @end tex %% @end iftex %% @ifnottex %% mu1, mu2 and mu3 %% @end ifnottex %% are @emph{relative weighting factors} or @guillemetleft{}tuning knobs@guillemetright{} %% which reflect the importance of the different design goals. Varying these factors %% corresponds to changing the emphasis from, say, high performance to good robustness. %% The main advantage of this approach is the possibility to explore the tradeoffs of %% the design problem in a systematic way. %% In a first approach, all three design objectives are weigthed equally. %% In subsequent iterations, the parameters %% @iftex %% @tex %% $\\mu_1 = 1$, $\\mu_2 = 10$ and $\\mu_3 = 20$ %% @end tex %% @end iftex %% @ifnottex %% mu1 = 1, mu2 = 10 and mu3 = 20 %% @end ifnottex %% are found to yield satisfactory closed-loop performance. This controller results %% in a system with virtually no overshoot and a phase margin of 64 degrees. %% %% @*@strong{References}@* %% [1] Guzzella, L. %% @cite{Analysis and Design of SISO Control Systems}, %% VDF Hochschulverlag, ETH Zurich, 2007@* %% [2] Astroem, K. and Haegglund, T. %% @cite{PID Controllers: Theory, Design and Tuning}, %% Second Edition, %% Instrument Society of America, 1995 % =============================================================================== % optiPID Lukas Reichlin July 2009 % =============================================================================== % Numerical Optimization of an A/H PID Controller % Required OCTAVE Packages: control % Required MATLAB Toolboxes: Control, Optimization % =============================================================================== % Tabula Rasa clear all, close all, clc; % Global Variables global P t dt mu_1 mu_2 mu_3 % Plant numP = [1]; denP = conv ([1, 1, 1], [1, 4, 6, 4, 1]); P = tf (numP, denP); % Relative Weighting Factors: PLAY AROUND WITH THESE! mu_1 = 1; % Minimize ITAE Criterion mu_2 = 10; % Minimize Max Overshoot mu_3 = 20; % Minimize Sensitivity Ms % Simulation Settings: PLANT-DEPENDENT! t_sim = 30; % Simulation Time [s] dt = 0.05; % Sampling Time [s] t = 0 : dt : t_sim; % Time Vector [s] % A/H PID Controller: Ms = 2.0 [gamma, phi, w_gamma, w_phi] = margin (P); ku = gamma; Tu = 2*pi / w_gamma; kappa = inv (dcgain (P)); disp ('optiPID: Astrom/Hagglund PID controller parameters:'); kp_AH = ku * 0.72 * exp ( -1.60 * kappa + 1.20 * kappa^2 ) Ti_AH = Tu * 0.59 * exp ( -1.30 * kappa + 0.38 * kappa^2 ) Td_AH = Tu * 0.15 * exp ( -1.40 * kappa + 0.56 * kappa^2 ) C_AH = optiPIDctrl (kp_AH, Ti_AH, Td_AH); % Initial Values C_par_0 = [kp_AH; Ti_AH; Td_AH]; % Optimization warning ('optiPID: optimization starts, please be patient ...'); C_par_opt = fminsearch (@optiPIDfun, C_par_0); % Optimized Controller disp ('optiPID: optimized PID controller parameters:'); kp_opt = C_par_opt(1) Ti_opt = C_par_opt(2) Td_opt = C_par_opt(3) C_opt = optiPIDctrl (kp_opt, Ti_opt, Td_opt); % Open Loop L_AH = P * C_AH; L_opt = P * C_opt; % Closed Loop T_AH = feedback (L_AH, 1); T_opt = feedback (L_opt, 1); % A Posteriori Stability Check disp ('optiPID: closed-loop stability check:'); st_AH = isstable (T_AH) st_opt = isstable (T_opt) % Stability Margins disp ('optiPID: gain margin gamma [-] and phase margin phi [deg]:'); [gamma_AH, phi_AH] = margin (L_AH) [gamma_opt, phi_opt] = margin (L_opt) % Plot Step Response figure (1) step (T_AH, 'b', T_opt, 'r', t) legend ('Astroem/Haegglund PID', 'Optimized PID', 'Location', 'SouthEast') % =============================================================================== control-3.2.0/inst/PaxHeaders.3947/btaconred.m0000644000000000000000000000013213450727360015762 xustar0030 mtime=1554231024.445423134 30 atime=1554231024.445423134 30 ctime=1554231028.525576056 control-3.2.0/inst/btaconred.m0000644000175000017500000002110513450727360016222 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} btaconred (@var{G}, @var{K}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} btaconred (@var{G}, @var{K}, @var{ncr}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} btaconred (@var{G}, @var{K}, @var{opt}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} btaconred (@var{G}, @var{K}, @var{ncr}, @var{opt}, @dots{}) ## ## Controller reduction by frequency-weighted Balanced Truncation Approximation (BTA). ## Given a plant @var{G} and a stabilizing controller @var{K}, determine a reduced ## order controller @var{Kr} such that the closed-loop system is stable and closed-loop ## performance is retained. ## ## The algorithm tries to minimize the frequency-weighted error ## @iftex ## @tex ## $$ || V \\ (K - K_r) \\ W ||_{\\infty} = \\min $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ||V (K-Kr) W|| = min ## inf ## @end example ## @end ifnottex ## where @var{V} and @var{W} denote output and input weightings. ## ## ## @strong{Inputs} ## @table @var ## @item G ## @acronym{LTI} model of the plant. ## It has m inputs, p outputs and n states. ## @item K ## @acronym{LTI} model of the controller. ## It has p inputs, m outputs and nc states. ## @item ncr ## The desired order of the resulting reduced order controller @var{Kr}. ## If not specified, @var{ncr} is chosen automatically according ## to the description of key @var{'order'}. ## @item @dots{} ## Optional pairs of keys and values. @code{"key1", value1, "key2", value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item Kr ## State-space model of reduced order controller. ## @item info ## Struct containing additional information. ## @table @var ## @item info.ncr ## The order of the obtained reduced order controller @var{Kr}. ## @item info.ncs ## The order of the alpha-stable part of original controller @var{K}. ## @item info.hsvc ## The Hankel singular values of the alpha-stable part of @var{K}. ## The @var{ncs} Hankel singular values are ordered decreasingly. ## @end table ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'order', 'ncr' ## The desired order of the resulting reduced order controller @var{Kr}. ## If not specified, @var{ncr} is chosen automatically such that states with ## Hankel singular values @var{info.hsvc} > @var{tol1} are retained. ## ## @item 'method' ## Order reduction approach to be used as follows: ## @table @var ## @item 'sr', 'b' ## Use the square-root Balance & Truncate method. ## @item 'bfsr', 'f' ## Use the balancing-free square-root Balance & Truncate method. Default method. ## @end table ## ## @item 'weight' ## Specifies the type of frequency-weighting as follows: ## @table @var ## @item 'none' ## No weightings are used (V = I, W = I). ## ## @item 'left', 'output' ## Use stability enforcing left (output) weighting ## @iftex ## @tex ## $$ V = (I - G K)^{-1} G, \\qquad W = I $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## -1 ## V = (I-G*K) *G , W = I ## @end example ## @end ifnottex ## ## @item 'right', 'input' ## Use stability enforcing right (input) weighting ## @iftex ## @tex ## $$ V = I, \\qquad W = (I - G K)^{-1} G $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## -1 ## V = I , W = (I-G*K) *G ## @end example ## @end ifnottex ## ## @item 'both', 'performance' ## Use stability and performance enforcing weightings ## @iftex ## @tex ## $$ V = (I - G K)^{-1} G, \\qquad W = (I - G K)^{-1} $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## -1 -1 ## V = (I-G*K) *G , W = (I-G*K) ## @end example ## @end ifnottex ## Default value. ## @end table ## ## @item 'feedback' ## Specifies whether @var{K} is a positive or negative feedback controller: ## @table @var ## @item '+' ## Use positive feedback controller. Default value. ## @item '-' ## Use negative feedback controller. ## @end table ## ## @item 'alpha' ## Specifies the ALPHA-stability boundary for the eigenvalues ## of the state dynamics matrix @var{K.A}. For a continuous-time ## controller, ALPHA <= 0 is the boundary value for ## the real parts of eigenvalues, while for a discrete-time ## controller, 0 <= ALPHA <= 1 represents the ## boundary value for the moduli of eigenvalues. ## The ALPHA-stability domain does not include the boundary. ## Default value is 0 for continuous-time controllers and ## 1 for discrete-time controllers. ## ## @item 'tol1' ## If @var{'order'} is not specified, @var{tol1} contains the tolerance for ## determining the order of the reduced controller. ## For model reduction, the recommended value of @var{tol1} is ## c*info.hsvc(1), where c lies in the interval [0.00001, 0.001]. ## Default value is info.ncs*eps*info.hsvc(1). ## If @var{'order'} is specified, the value of @var{tol1} is ignored. ## ## @item 'tol2' ## The tolerance for determining the order of a minimal ## realization of the ALPHA-stable part of the given ## controller. TOL2 <= TOL1. ## If not specified, ncs*eps*info.hsvc(1) is chosen. ## ## @item 'gram-ctrb' ## Specifies the choice of frequency-weighted controllability ## Grammian as follows: ## @table @var ## @item 'standard' ## Choice corresponding to standard Enns' method [1]. Default method. ## @item 'enhanced' ## Choice corresponding to the stability enhanced ## modified Enns' method of [2]. ## @end table ## ## @item 'gram-obsv' ## Specifies the choice of frequency-weighted observability ## Grammian as follows: ## @table @var ## @item 'standard' ## Choice corresponding to standard Enns' method [1]. Default method. ## @item 'enhanced' ## Choice corresponding to the stability enhanced ## modified Enns' method of [2]. ## @end table ## ## @item 'equil', 'scale' ## Boolean indicating whether equilibration (scaling) should be ## performed on @var{G} and @var{K} prior to order reduction. ## Default value is false if both @code{G.scaled == true, K.scaled == true} ## and true otherwise. ## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs ## is of utmost importance. The input and output scaling can @strong{not} ## be done by the equilibration option or the @command{prescale} function ## because these functions perform state transformations only. ## Furthermore, signals should not be scaled simply to a certain range. ## For all inputs (or outputs), a certain change should be of the same ## importance for the model. ## @end table ## ## @strong{Algorithm}@* ## Uses SLICOT SB16AD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Author: Lukas Reichlin ## Created: December 2011 ## Version: 0.1 function [Kr, info] = btaconred (varargin) [Kr, info] = __conred_sb16ad__ ("bta", varargin{:}); endfunction %!shared Mo, Me, Info, HSVCe %! A = [ -1. 0. 4. %! 0. 2. 0. %! 0. 0. -3. ]; %! %! B = [ 1. %! 1. %! 1. ]; %! %! C = [ 1. 1. 1. ]; %! %! D = [ 0. ]; %! %! G = ss (A, B, C, D, "scaled", true); %! %! AC = [ -26.4000, 6.4023, 4.3868; %! 32.0000, 0, 0; %! 0, 8.0000, 0 ]; %! %! BC = [ -16 %! 0 %! 0 ]; %! %! CC = [ 9.2994 1.1624 0.1090 ]; %! %! DC = [ 0 ]; %! %! K = ss (AC, BC, CC, DC, "scaled", true); %! %! [Kr, Info] = btaconred (G, K, 2, "weight", "input", "feedback", "+"); %! [Ao, Bo, Co, Do] = ssdata (Kr); %! %! Ae = [ 9.1900 0.0000 %! 0.0000 -34.5297 ]; %! %! Be = [ -11.9593 %! 86.3137 ]; %! %! Ce = [ 2.8955 -1.3566 ]; %! %! De = [ 0.0000 ]; %! %! HSVCe = [ 3.8253 0.2005 ].'; %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [Ae, Be; Ce, De]; %! %!assert (Mo, Me, 1e-4); %!assert (Info.hsvc, HSVCe, 1e-4); control-3.2.0/inst/PaxHeaders.3947/impulse.m0000644000000000000000000000013213450727360015477 xustar0030 mtime=1554231024.521426036 30 atime=1554231024.521426036 30 ctime=1554231028.525576056 control-3.2.0/inst/impulse.m0000644000175000017500000001007213450727360015740 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {} impulse (@var{sys}) ## @deftypefnx{Function File} {} impulse (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}) ## @deftypefnx{Function File} {} impulse (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'}) ## @deftypefnx{Function File} {} impulse (@var{sys1}, @dots{}, @var{t}) ## @deftypefnx{Function File} {} impulse (@var{sys1}, @dots{}, @var{tfinal}) ## @deftypefnx{Function File} {} impulse (@var{sys1}, @dots{}, @var{tfinal}, @var{dt}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} impulse (@var{sys}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} impulse (@var{sys}, @var{t}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} impulse (@var{sys}, @var{tfinal}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} impulse (@var{sys}, @var{tfinal}, @var{dt}) ## Impulse response of @acronym{LTI} system. ## If no output arguments are given, the response is printed on the screen. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @item t ## Time vector. Should be evenly spaced. If not specified, it is calculated by ## the poles of the system to reflect adequately the response transients. ## @item tfinal ## Optional simulation horizon. If not specified, it is calculated by ## the poles of the system to reflect adequately the response transients. ## @item dt ## Optional sampling time. Be sure to choose it small enough to capture transient ## phenomena. If not specified, it is calculated by the poles of the system. ## @item 'style' ## Line style and color, e.g. 'r' for a solid red line or '-.k' for a dash-dotted ## black line. See @command{help plot} for details. ## @end table ## ## @strong{Outputs} ## @table @var ## @item y ## Output response array. Has as many rows as time samples (length of t) ## and as many columns as outputs. ## @item t ## Time row vector. ## @item x ## State trajectories array. Has @code{length (t)} rows and as many columns as states. ## @end table ## ## @seealso{initial, lsim, step} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 1.0 function [y_r, t_r, x_r] = impulse (varargin) if (nargin == 0) print_usage (); endif [y, t, x] = __time_response__ ("impulse", varargin, nargout); if (nargout) y_r = y{1}; t_r = t{1}; x_r = x{1}; endif endfunction ## test the analogue response to an impulse input. %!test %! t=0:0.1:.3; %! sys=tf(0.9375,[1 2 4]); %! y=impulse(sys,t); %! assert (y(1), 0, eps); %! assert (y(2), 0.084405001160727, 2*eps); %! assert (y(3), 0.150460144774958, 2*eps); %! assert (y(4), 0.199104909042133, 2*eps); ## Test the discrete response to an impulse input. %!test %! t=0:0.1:.4; %! sys=tf(0.9375,[1 2 4]); %! sys2=c2d(sys, 0.1, "impulse"); %! y=impulse(sys2,t); %! assert (y(1), 0, eps); %! assert (y(2), 0.084405001160727, 2*eps); %! assert (y(3), 0.150460144774958, 2*eps); %! assert (y(4), 0.199104909042133, 2*eps); ## test from bug %!test %! s = tf("s"); %! R = 1/s; %! y= impulse(R); %! assert (y(1), 1, eps); %!demo %! clf; %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! impulse(g); %! title ("Impulse response of a PT2 transfer function"); %!demo %! clf; %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! h = c2d(g,0.1); %! impulse(h); %! title ("Impulse response of a discretized PT2 transfer function"); control-3.2.0/inst/PaxHeaders.3947/__labels__.m0000644000000000000000000000013213450727360016057 xustar0030 mtime=1554231024.377420538 30 atime=1554231024.377420538 30 ctime=1554231028.525576056 control-3.2.0/inst/__labels__.m0000644000175000017500000000240113450727360016315 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Return default labels if cell "name" contains only empty strings. ## If not, check whether individual strings of the cell "name" are ## empty and mark them with "?". Used by display routines. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function [name, n] = __labels__ (name, variable = "x") n = numel (name); if (n == 0 || isequal ("", name{:})) name = strseq (variable, 1:n); else idx = cellfun (@isempty, name); name(idx) = "?"; endif endfunction control-3.2.0/inst/PaxHeaders.3947/sensitivity.m0000644000000000000000000000013213450727360016413 xustar0030 mtime=1554231024.581428326 30 atime=1554231024.581428326 30 ctime=1554231028.525576056 control-3.2.0/inst/sensitivity.m0000644000175000017500000001074013450727360016656 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{Ms}, @var{ws}] =} sensitivity (@var{L}) ## @deftypefnx{Function File} {[@var{Ms}, @var{ws}] =} sensitivity (@var{P}, @var{C}) ## @deftypefnx{Function File} {[@var{Ms}, @var{ws}] =} sensitivity (@var{P}, @var{C1}, @var{C2}, @dots{}) ## Return sensitivity margin @var{Ms}. ## The quantity @var{Ms} is simply the inverse of the shortest ## distance from the Nyquist curve to the critical point -1. ## Reasonable values of @var{Ms} are in the range from 1.3 to 2. ## @iftex ## @tex ## $$ M_s = ||S(j\\omega)||_{\\infty} $$ ## @end tex ## @end iftex ## @ifnottex ## ## @example ## Ms = ||S(jw)|| ## inf ## @end example ## ## @end ifnottex ## If no output arguments are given, the critical distance 1/Ms ## is plotted on a Nyquist diagram. ## In contrast to gain and phase margin as computed by function ## @command{margin}, the sensitivity @var{Ms} is a more robust ## criterion to assess the stability of a feedback system. ## ## @strong{Inputs} ## @table @var ## @item L ## Open loop transfer function. ## @var{L} can be any type of @acronym{LTI} system, but it must be square. ## @item P ## Plant model. Any type of @acronym{LTI} system. ## @item C ## Controller model. Any type of @acronym{LTI} system. ## @item C1, C2, @dots{} ## If several controllers are specified, function @command{sensitivity} ## computes the sensitivity @var{Ms} for each of them in combination ## with plant @var{P}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item Ms ## Sensitivity margin @var{Ms} as defined in [1]. ## Scalar value. ## If several controllers are specified, @var{Ms} becomes ## a row vector with as many entries as controllers. ## @item ws ## The frequency [rad/s] corresponding to the sensitivity peak. ## Scalar value. ## If several controllers are specified, @var{ws} becomes ## a row vector with as many entries as controllers. ## @end table ## ## @strong{Algorithm}@* ## Uses SLICOT AB13DD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## to calculate the infinity norm of the sensitivity function. ## ## @strong{References}@* ## [1] Astr@"om, K. and H@"agglund, T. (1995) ## PID Controllers: ## Theory, Design and Tuning, ## Second Edition. ## Instrument Society of America. ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: August 2012 ## Version: 0.2 function [ret, ws] = sensitivity (G, varargin) if (nargin == 0) print_usage (); elseif (nargin == 1) # L := G L = G; I = eye (size (L)); S = feedback (I, L); # S = inv (I + L), S = feedback (I, L*-I, "+") [Ms, ws] = norm (S, inf); else # P := G, C := varargin L = cellfun (@(C) G*C, varargin, "uniformoutput", false); I = cellfun (@(L) eye (size (L)), L, "uniformoutput", false); S = cellfun (@feedback, I, L, "uniformoutput", false); [Ms, ws] = cellfun (@(S) norm (S, inf), S); endif if (nargout == 0) ## TODO: don't show entire Nyquist curve if critical distance becomes small on plot if (length (Ms) > 1) error ("sensitivity: plotting only works for a single controller"); endif if (! iscell (L)) L = {L}; endif if (! issiso (L{1})) error ("sensitivity: Nyquist plot requires SISO systems"); endif [H, w] = __frequency_response__ ("sensitivity", L); H = H{1}(:); re = real (H); im = imag (H); Hs = freqresp (L{1}, ws); res = real (Hs); ims = imag (Hs); plot (re, im, "b", [-1, res], [0, ims], "r") axis ("equal") xlim (__axis_margin__ (xlim)) ylim (__axis_margin__ (ylim)) grid ("on") title (sprintf ("Sensitivity Ms = %g (at %g rad/s)", Ms, ws)) xlabel ("Real Axis") ylabel ("Imaginary Axis") else ret = Ms; endif endfunction control-3.2.0/inst/PaxHeaders.3947/augstate.m0000644000000000000000000000013213450727360015636 xustar0030 mtime=1554231024.437422828 30 atime=1554231024.433422676 30 ctime=1554231028.525576056 control-3.2.0/inst/augstate.m0000644000175000017500000000353713450727360016107 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{augsys} =} augstate (@var{sys}) ## Append state vector x of system @var{sys} to output vector y. ## ## @example ## @group ## . . ## x = A x + B u x = A x + B u ## y = C x + D u => y = C x + D u ## x = I x + O u ## @end group ## @end example ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2015 ## Version: 0.1 function augsys = augstate (sys) if (nargin != 1 || ! isa (sys, "lti")) print_usage (); endif if (! isa (sys, "ss")) warning ("augstate: system not in state-space form"); sys = ss (sys); endif [a, b, c, d, e, tsam] = dssdata (sys, []); [inn, stn, outn, ing, outg] = get (sys, "inname", "stname", "outname", "ingroup", "outgroup"); [p, m] = size (d); n = rows (a); caug = vertcat (c, eye (n)); daug = vertcat (d, zeros (n, m)); outname = vertcat (outn, stn); augsys = dss (a, b, caug, daug, e, tsam); augsys = set (augsys, "inname", inn, "stname", stn, "outname", outname, ... "ingroup", ing, "outgroup", outg); endfunction control-3.2.0/inst/PaxHeaders.3947/isobsv.m0000644000000000000000000000013213450727360015326 xustar0030 mtime=1554231024.529426341 30 atime=1554231024.529426341 30 ctime=1554231028.525576056 control-3.2.0/inst/isobsv.m0000644000175000017500000000535413450727360015576 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{sys}) ## @deftypefnx {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{sys}, @var{tol}) ## @deftypefnx {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{a}, @var{c}) ## @deftypefnx {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{a}, @var{c}, @var{e}) ## @deftypefnx {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{a}, @var{c}, @var{[]}, @var{tol}) ## @deftypefnx {Function File} {[@var{bool}, @var{nobs}] =} isobsv (@var{a}, @var{c}, @var{e}, @var{tol}) ## Logical check for system observability. ## For numerical reasons, @code{isobsv (sys)} ## should be used instead of @code{rank (obsv (sys))}. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. Descriptor state-space models are possible. ## @item a ## State matrix (n-by-n). ## @item c ## Measurement matrix (p-by-n). ## @item e ## Descriptor matrix (n-by-n). ## If @var{e} is empty @code{[]} or not specified, an identity matrix is assumed. ## @item tol ## Optional roundoff parameter. Default value is 0. ## @end table ## ## @strong{Outputs} ## @table @var ## @item bool = 0 ## System is not observable. ## @item bool = 1 ## System is observable. ## @item nobs ## Number of observable states. ## @end table ## ## @strong{Algorithm}@* ## Uses SLICOT AB01OD and TG01HD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @seealso{isctrb} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function [bool, nobs] = isobsv (a, c = [], e = [], tol = []) if (nargin == 0) print_usage (); elseif (isa (a, "lti")) # isobsv (sys), isobsv (sys, tol) if (nargin > 2) print_usage (); endif [bool, nobs] = isctrb (a.', c); # transpose is overloaded elseif (nargin < 2 || nargin > 4) print_usage (); else # isobsv (a, c), isobsv (a, c, e), ... [bool, nobs] = isctrb (a.', c.', e.', tol); endif endfunction control-3.2.0/inst/PaxHeaders.3947/__adjust_frd_data__.m0000644000000000000000000000013213450727360017733 xustar0030 mtime=1554231024.329418705 30 atime=1554231024.329418705 30 ctime=1554231028.525576056 control-3.2.0/inst/__adjust_frd_data__.m0000644000175000017500000000322613450727360020177 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Common code for adjusting FRD model data. ## Used by @frd/frd.m and @frd/__set__.m ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function [H, w] = __adjust_frd_data__ (H, w); w = reshape (w, [], 1); lw = length (w); if (ndims (H) != 3 && ! isempty (H)) if (isscalar (H)) H = reshape (H, 1, 1, []); if (lw > 1) H = repmat (H, [1, 1, lw]); # needed for "frd1 + scalar2" or "scalar1 * frd2) endif elseif (isvector (H) && length (H) == lw) # SISO system (H is a vector) H = reshape (H, 1, 1, []); elseif (ismatrix (H)) H = reshape (H, rows (H), []); if (lw > 1) H = repmat (H, [1, 1, lw]); # needed for "frd1 + matrix2" or "matrix1 * frd2) endif else error ("frd: first argument H invalid"); endif elseif (isempty (H)) H = zeros (0, 0, 0); endif endfunction control-3.2.0/inst/PaxHeaders.3947/__is_stable__.m0000644000000000000000000000013213450727360016562 xustar0030 mtime=1554231024.377420538 30 atime=1554231024.377420538 30 ctime=1554231028.525576056 control-3.2.0/inst/__is_stable__.m0000644000175000017500000000235113450727360017024 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Determine whether all poles in a vector are stable. ## Author: Lukas Reichlin ## Created: December 2010 ## Version: 0.2 function bool = __is_stable__ (pol, ct = true, tol = 0) if (! is_real_scalar (tol) || tol < 0) error ("isstable: tolerance must be a real-valued, non-negative scalar"); endif if (ct) # continuous-time bool = all (real (pol) < -tol*(1 + abs (pol))); else # discrete-time bool = all (abs (pol) < 1 - tol); endif endfunction control-3.2.0/inst/PaxHeaders.3947/__modred_check_tol__.m0000644000000000000000000000013213450727360020102 xustar0030 mtime=1554231024.389420996 30 atime=1554231024.389420996 30 ctime=1554231028.525576056 control-3.2.0/inst/__modred_check_tol__.m0000644000175000017500000000205013450727360020340 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## check tolerance for model reduction commands ## Author: Lukas Reichlin ## Created: November 2011 ## Version: 0.1 function tol = __modred_check_tol__ (tol, str = "") if (! is_real_scalar (tol)) error ("modred: argument %s must be a real scalar", str); endif endfunction control-3.2.0/inst/PaxHeaders.3947/Anderson.m0000644000000000000000000000013213450727360015572 xustar0030 mtime=1554231024.317418247 30 atime=1554231024.317418247 30 ctime=1554231028.525576056 control-3.2.0/inst/Anderson.m0000644000175000017500000000506013450727360016034 0ustar00olafolaf00000000000000%% -*- texinfo -*- %% Frequency-weighted coprime factorization controller reduction. % =============================================================================== % Coprime Factorization Controller Reduction Lukas Reichlin December 2011 % =============================================================================== % Reference: Anderson, B.D.O.: Controller Reduction: Concepts and Approaches % IEEE Transactions of Automatic Control, Vol. 34, No. 8, August 1989 % =============================================================================== % Tabula Rasa clear all, close all, clc % Plant A = [ -0.161 -6.004 -0.58215 -9.9835 -0.40727 -3.982 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 ]; B = [ 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ]; C = [ 0.0 0.0 6.4432e-3 2.3196e-3 7.1252e-2 1.0002 0.10455 0.99551 ]; G = ss (A, B, C); % LQG Design H = [ 0.0 0.0 0.0 0.0 0.55 11.0 1.32 18.0 ]; q1 = 1e-6; q2 = 100; % [100, 1000, 2000] Q = q1 * H.' * H; R = 1; W = q2 * B * B.'; V = 1; F = lqr (G, Q, R) L = lqe (G, W, V) % Coprime Factorization using Balanced Truncation Approximation Kr = arrayfun (@(k) cfconred (G, F, L, k), 8:-1:2, 'uniformoutput', false); % 'method', 'bfsr-bta' T = cellfun (@(Kr) feedback (G*Kr), Kr, 'uniformoutput', false); figure (1) step (T{:}, 200) % Coprime Factorization using Singular Perturbation Approximation Kr = arrayfun (@(k) cfconred (G, F, L, k, 'method', 'bfsr-spa'), 8:-1:2, 'uniformoutput', false); T = cellfun (@(Kr) feedback (G*Kr), Kr, 'uniformoutput', false); figure (2) step (T{:}, 200) % Frequency-Weighted Coprime Factorization using BTA Kr = arrayfun (@(k) fwcfconred (G, F, L, k), 8:-1:2, 'uniformoutput', false); T = cellfun (@(Kr) feedback (G*Kr), Kr, 'uniformoutput', false); figure (3) step (T{:}, 300) control-3.2.0/inst/PaxHeaders.3947/@frd0000644000000000000000000000013213450727360014441 xustar0030 mtime=1554231024.113410459 30 atime=1554231028.525576056 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/0000755000175000017500000000000013450727360014757 5ustar00olafolaf00000000000000control-3.2.0/inst/@frd/PaxHeaders.3947/__pole__.m0000644000000000000000000000013213450727360016427 xustar0030 mtime=1554231024.089409542 30 atime=1554231024.089409542 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__pole__.m0000644000175000017500000000170213450727360016670 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Poles of FRD object. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function pol = __pole__ (sys) error ("frd: pole: this is not possible"); endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__minreal__.m0000644000000000000000000000013213450727360017117 xustar0030 mtime=1554231024.085409389 30 atime=1554231024.085409389 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__minreal__.m0000644000175000017500000000176013450727360017364 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Minimal realization of FRD objects. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function sys = __minreal__ (sys, tol) warning ("frd: minreal: frequency responses are always minimal"); endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__sys_inverse__.m0000644000000000000000000000013213450727360020041 xustar0030 mtime=1554231024.097409848 30 atime=1554231024.097409848 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__sys_inverse__.m0000644000175000017500000000207013450727360020301 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Inversion of FRD objects. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function sys = __sys_inverse__ (sys) [p, m, l] = size (sys.H); H = mat2cell (sys.H, p, m, ones (1, l))(:); H = cellfun (@inv, H, "uniformoutput", false); sys.H = cat (3, H{:}); endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__get__.m0000644000000000000000000000013213450727360016247 xustar0030 mtime=1554231024.085409389 30 atime=1554231024.085409389 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__get__.m0000644000175000017500000000220513450727360016507 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Access key values of FRD objects. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.2 function val = __get__ (sys, key) switch (key) # {, } case {"h", "response"} val = sys.H; case {"w", "frequency"} val = sys.w; otherwise error ("frd: get: invalid key name '%s'", key); endswitch endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__sys_prune__.m0000644000000000000000000000013213450727360017517 xustar0030 mtime=1554231024.101410001 30 atime=1554231024.101410001 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__sys_prune__.m0000644000175000017500000000226413450727360017764 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Submodel extraction and reordering for FRD objects. ## This file is part of the Model Abstraction Layer. ## For internal use only. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.2 function sys = __sys_prune__ (sys, out_idx, in_idx, w_idx = ":") [sys.lti, out_idx, in_idx] = __lti_prune__ (sys.lti, out_idx, in_idx); sys.H = sys.H(out_idx, in_idx, w_idx); sys.w = sys.w(w_idx); endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__sys_group__.m0000644000000000000000000000013213450727360017522 xustar0030 mtime=1554231024.097409848 30 atime=1554231024.097409848 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__sys_group__.m0000644000175000017500000000440613450727360017767 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Block diagonal concatenation of two FRD models. ## This file is part of the Model Abstraction Layer. ## For internal use only. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.2 function retsys = __sys_group__ (sys1, sys2) if (! isa (sys1, "frd")) sys1 = frd (sys1, sys2.w); endif if (! isa (sys2, "frd")) sys2 = frd (sys2, sys1.w); endif retsys = frd (); retsys.lti = __lti_group__ (sys1.lti, sys2.lti); lw1 = length (sys1.w); lw2 = length (sys2.w); [p1, m1, l1] = size (sys1.H); [p2, m2, l2] = size (sys2.H); ## TODO: tolerances for frequencies, i.e. don't check for equality ## find intersection of frequency vectors if (lw1 == lw2 && all (sys1.w == sys2.w)) # identical frequency vectors retsys.w = sys1.w; H1 = sys1.H; H2 = sys2.H; else # differing frequency vectors ## find common frequencies retsys.w = w = intersect (sys1.w, sys2.w); ## indices of common frequencies w1_idx = arrayfun (@(x) find (sys1.w == x), w); w2_idx = arrayfun (@(x) find (sys2.w == x), w); ## extract common responses H1 = sys1.H(:, :, w1_idx); H2 = sys2.H(:, :, w2_idx); endif ## block-diagonal concatenation lw = length (retsys.w); z12 = zeros (p1, m2); z21 = zeros (p2, m1); H1 = mat2cell (H1, p1, m1, ones (1, lw))(:); H2 = mat2cell (H2, p2, m2, ones (1, lw))(:); H = cellfun (@(x, y) [x, z12; z21, y], H1, H2, "uniformoutput", false); retsys.H = cat (3, H{:}); endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__sys2tf__.m0000644000000000000000000000013213450727360016722 xustar0030 mtime=1554231024.093409695 30 atime=1554231024.093409695 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__sys2tf__.m0000644000175000017500000000220713450727360017164 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## FRD to TF conversion. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function [retsys, retlti] = __sys2tf__ (sys) error ("frd: frd2tf: system identification not implemented yet"); retsys = tf (num, den, get (sys, "tsam")); # tsam needed to set appropriate tfvar retlti = sys.lti; # preserve lti properties endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__times__.m0000644000000000000000000000013213450727360016611 xustar0030 mtime=1554231024.101410001 30 atime=1554231024.101410001 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__times__.m0000644000175000017500000000205613450727360017055 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Hadamard/Schur product of @acronym{FRD} objects. ## Used by Octave for "sys1 .* sys2". ## Author: Lukas Reichlin ## Created: May 2014 ## Version: 0.1 function sys = __times__ (sys1, sys2) error ("frd: times: Hadamard/Schur product is not implemented for FRD objects"); endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__c2d__.m0000644000000000000000000000013213450727360016140 xustar0030 mtime=1554231024.077409084 30 atime=1554231024.077409084 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__c2d__.m0000644000175000017500000000211613450727360016401 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Convert the continuous FRD object into its discrete-time equivalent. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function sys = __c2d__ (sys, tsam, method = "zoh") error ("frd: c2d: conversion not possible"); ## NOTE: changing just the sampling time wouldn't make sense here endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/frd.m0000644000000000000000000000013213450727360015447 xustar0030 mtime=1554231024.113410459 30 atime=1554231024.109410306 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/frd.m0000644000175000017500000001270613450727360015716 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} frd (@var{sys}) ## @deftypefnx {Function File} {@var{sys} =} frd (@var{sys}, @var{w}) ## @deftypefnx {Function File} {@var{sys} =} frd (@var{H}, @var{w}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} frd (@var{H}, @var{w}, @var{tsam}, @dots{}) ## Create or convert to frequency response data. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model to be converted to frequency response data. ## If second argument @var{w} is omitted, the interesting ## frequency range is calculated by the zeros and poles of @var{sys}. ## @item H ## Frequency response array (p-by-m-by-lw). H(i,j,k) contains the ## response from input j to output i at frequency k. In the SISO case, ## a vector (lw-by-1) or (1-by-lw) is accepted as well. ## @item w ## Frequency vector (lw-by-1) in radian per second [rad/s]. ## Frequencies must be in ascending order. ## @item tsam ## Sampling time in seconds. If @var{tsam} is not specified, ## a continuous-time model is assumed. ## @item @dots{} ## Optional pairs of properties and values. ## Type @command{set (frd)} for more information. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Frequency response data object. ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'H' ## Frequency response array. See 'Inputs' for details. ## ## @item 'w' ## Frequency vector. See 'Inputs' for details. ## ## @item 'tsam' ## Sampling time. See 'Inputs' for details. ## ## @item 'inname' ## The name of the input channels in @var{sys}. ## Cell vector of length m containing strings. ## Default names are @code{@{'u1', 'u2', ...@}} ## ## @item 'outname' ## The name of the output channels in @var{sys}. ## Cell vector of length p containing strings. ## Default names are @code{@{'y1', 'y2', ...@}} ## ## @item 'ingroup' ## Struct with input group names as field names and ## vectors of input indices as field values. ## Default is an empty struct. ## ## @item 'outgroup' ## Struct with output group names as field names and ## vectors of output indices as field values. ## Default is an empty struct. ## ## @item 'name' ## String containing the name of the model. ## ## @item 'notes' ## String or cell of string containing comments. ## ## @item 'userdata' ## Any data type. ## @end table ## ## @seealso{dss, ss, tf} ## @end deftypefn ## Author: Lukas Reichlin ## Created: February 2010 ## Version: 0.2 function sys = frd (varargin) ## NOTE: * There's no such thing as a static gain ## because FRD objects are measurements, ## not models. ## * If something like sys1 = frd (5) existed, ## it would cause troubles in cases like ## sys2 = ss (...), sys = sys1 * sys2 ## because sys2 needs to be converted to FRD, ## but sys1 contains no valid frequencies. ## * However, things like frd (ss (5)) should ## be possible. ## model precedence: frd > ss > zpk > tf > double superiorto ("ss", "zpk", "tf", "double"); if (nargin == 1 && isa (varargin{1}, "frd")) sys = varargin{1}; return; elseif (nargin != 0 && nargin <= 2 ... && isa (varargin{1}, "lti")) [sys, lti] = __sys2frd__ (varargin{:}); sys.lti = lti; # preserve lti properties return; endif H = []; w = []; # default frequency response data tsam = -2; # default sampling time [mat_idx, opt_idx, obj_flg] = __lti_input_idx__ (varargin); switch (numel (mat_idx)) case 2 # frd (H, w), frd (H, w, ...) [H, w] = varargin{mat_idx}; tsam = 0; case 3 # frd (H, w, tsam), frd (H, w, tsam, ...) [H, w, tsam] = varargin{mat_idx}; if (isempty (tsam) && is_real_matrix (tsam)) tsam = -1; elseif (! issample (tsam, -10)) error ("frd: invalid sampling time"); endif case 0 # frd () ## nothing to do here, just prevent case 'otherwise' otherwise # sys = frd (H) *must* fail print_usage (); endswitch varargin = varargin(opt_idx); if (obj_flg) varargin = horzcat ({"lti"}, varargin); endif [H, w] = __adjust_frd_data__ (H, w); [p, m] = __frd_dim__ (H, w); # determine number of outputs and inputs frdata = struct ("H", H, "w", w); # struct for frd-specific data ltisys = lti (p, m, tsam); # parent class for general lti data sys = class (frdata, "frd", ltisys); # create frd object if (numel (varargin) > 0) # if there are any properties and values, ... sys = set (sys, varargin{:}); # use the general set function endif endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__sys2ss__.m0000644000000000000000000000013213450727360016736 xustar0030 mtime=1554231024.089409542 30 atime=1554231024.089409542 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__sys2ss__.m0000644000175000017500000000207213450727360017200 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## FRD to SS conversion. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function [retsys, retlti] = __sys2ss__ (sys) error ("frd: frd2ss: system identification not implemented yet"); retsys = dss (a, b, c, d, e); retlti = sys.lti; # preserve lti properties endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/display.m0000644000000000000000000000013213450727360016341 xustar0030 mtime=1554231024.109410306 30 atime=1554231024.109410306 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/display.m0000644000175000017500000000710613450727360016606 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Display routine for FRD objects. ## Author: Lukas Reichlin ## Created: February 2010 ## Version: 0.2 function display (sys) sysname = inputname (1); [inname, outname, tsam] = __lti_data__ (sys.lti); [inname, m] = __labels__ (inname, "u"); [outname, p] = __labels__ (outname, "y"); w = __freq2str__ (sys.w); disp (""); for k = 1 : m disp (["Frequency response '", sysname, "' from input '", inname{k}, "' to output ..."]); disp (""); __disp_resp__ (sys.H(:,k,:), w, outname); endfor display (sys.lti); # display sampling time if (tsam == -2) disp ("Static gain."); elseif (tsam == 0) disp ("Continuous-time frequency response."); else disp ("Discrete-time frequency response."); endif endfunction function __disp_resp__ (H, w, outname) p = rows (H); # number of outputs len = size (H, 3); # number of frequencies H = mat2cell (H, ones (1, p), 1, len)(:); H = cellfun (@__resp2str__, H, outname, "uniformoutput", false); tsize = terminal_size (); col_freq = columns (w); col_resp = cellfun (@columns, H); col_max = tsize(2) - col_freq; width = cumsum (col_resp); start = 0; stop = col_max; while (start < width(end)) idx = find (width > start & width <= stop); disp ([w, H{idx}]); disp (""); start = width(idx(end)); stop = start + col_max; endwhile ## FIXME: Handle case where tsize(2) is not enough ## to display frequencies and one output. endfunction function str = __freq2str__ (w, title = "w [rad/s]") len = rows (w); str = __vec2str__ (w); line = repmat ("-", 1, max (columns (str), columns (title))); str = strvcat (title, line, str); space = repmat (" ", len+2, 1); str = [space, str]; endfunction function str = __resp2str__ (H, outname) H = H(:); len = length (H); real_str = __vec2str__ (real (H)); im = imag (H); if (any (im)) imag_str = __vec2str__ (abs (im), "i"); sign_str = repmat (" + ", len, 1); neg = im < 0; sign_str(neg, 2) = "-"; str = [real_str, sign_str, imag_str]; else str = real_str; endif line = repmat ("-", 1, max (columns (str), columns (outname))); str = strvcat (outname, line, str); space = repmat (" ", len+2, 1); str = [space, str]; endfunction function str = __vec2str__ (vec, post) vec = vec(:); tmp = isfinite (vec); tmp = abs (vec(tmp & vec != 0)); if (isempty (tmp) || min (tmp) < 1e-3 || max (tmp) > 1e4) str = arrayfun (@(x) sprintf ("%.3e", x), vec, "uniformoutput", false); elseif (all (floor (tmp) == tmp)) str = arrayfun (@(x) sprintf ("%d", x), vec, "uniformoutput", false); else str = arrayfun (@(x) sprintf ("%.4f", x), vec, "uniformoutput", false); endif str = strjust (char (str), "right"); if (nargin > 1) str = [str, repmat(post, length (vec), 1)]; endif endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__set__.m0000644000000000000000000000013213450727360016263 xustar0030 mtime=1554231024.089409542 30 atime=1554231024.089409542 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__set__.m0000644000175000017500000000245413450727360016531 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Set or modify keys of FRD objects. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.2 function sys = __set__ (sys, key, val) switch (key) # {, } case {"h", "response"} val = __adjust_frd_data__ (val, sys.w); __frd_dim__ (val, sys.w); sys.H = val; case {"w", "frequency"} [~, val] = __adjust_frd_data__ (sys.H, val); __frd_dim__ (sys.H, val); sys.w = val; otherwise error ("frd: set: invalid key name '%s'", key); endswitch endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__transpose__.m0000644000000000000000000000013213450727360017506 xustar0030 mtime=1554231024.105410153 30 atime=1554231024.105410153 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__transpose__.m0000644000175000017500000000207413450727360017752 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Transpose of FRD objects. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function sys = __transpose__ (sys) [p, m, l] = size (sys.H); H = mat2cell (sys.H, p, m, ones (1, l))(:); H = cellfun (@transpose, H, "uniformoutput", false); sys.H = cat (3, H{:}); endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__sys_data__.m0000644000000000000000000000013213450727360017277 xustar0030 mtime=1554231024.093409695 30 atime=1554231024.093409695 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__sys_data__.m0000644000175000017500000000171713450727360017546 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Used by frdata instead of multiple get calls. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function [H, w] = __sys_data__ (sys) H = sys.H; w = sys.w; endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__sys_keys__.m0000644000000000000000000000013213450727360017341 xustar0030 mtime=1554231024.101410001 30 atime=1554231024.097409848 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__sys_keys__.m0000644000175000017500000000274513450727360017612 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This program is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## This program is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{keys}, @var{vals}] =} __sys_keys__ (@var{sys}) ## @deftypefnx {Function File} {[@var{keys}, @var{vals}] =} __sys_keys__ (@var{sys}, @var{aliases}) ## Return the list of keys as well as the assignable values for a frd object sys. ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.3 function [keys, vals] = __sys_keys__ (sys, aliases = false) ## cell vector of frd-specific keys keys = {"H"; "w"}; ## cell vector of frd-specific assignable values vals = {"p-by-m-by-l array of complex frequency responses"; "l-by-1 vector of real frequencies (l = length (w))"}; if (aliases) ka = {"response"; "frequency"}; keys = [keys; ka]; endif endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__d2c__.m0000644000000000000000000000013213450727360016140 xustar0030 mtime=1554231024.081409236 30 atime=1554231024.081409236 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__d2c__.m0000644000175000017500000000212013450727360016374 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Convert the discrete FRD object into its continuous-time equivalent. ## Author: Lukas Reichlin ## Created: September 2011 ## Version: 0.1 function sys = __d2c__ (sys, tsam, method = "zoh") error ("frd: d2c: conversion not possible"); ## NOTE: changing just the sampling time wouldn't make sense here endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__ctranspose__.m0000644000000000000000000000013213450727360017651 xustar0030 mtime=1554231024.077409084 30 atime=1554231024.077409084 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__ctranspose__.m0000644000175000017500000000210413450727360020107 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Conjugate transpose of FRD objects. ## Author: Lukas Reichlin ## Created: May 2012 ## Version: 0.1 function sys = __ctranspose__ (sys) [p, m, l] = size (sys.H); H = mat2cell (sys.H, p, m, ones (1, l))(:); H = cellfun (@ctranspose, H, "uniformoutput", false); sys.H = cat (3, H{:}); endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__freqresp__.m0000644000000000000000000000013213450727360017317 xustar0030 mtime=1554231024.081409236 30 atime=1554231024.081409236 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__freqresp__.m0000644000175000017500000000307213450727360017562 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Frequency response of FRD models :-) ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.3 function H = __freqresp__ (sys, w, cellflag = false) [H, w_sys, tsam] = frdata (sys, "array"); if (! isempty (w)) # freqresp (frdsys, w), sigma (frdsys, w), ... tol = sqrt (eps); w_idx = arrayfun (@(x) find (abs (w_sys - x) < tol), w, "uniformoutput", false); w_idx = vertcat (w_idx{:}); ## NOTE: There are problems when cellfun uses "uniformoutput", true ## and find returns an empty matrix, if (length (w_idx) != numel (w)) error ("frd: freqresp: some frequencies are not within tolerance %g", tol); endif H = H(:, :, w_idx); endif if (cellflag) [p, m, l] = size (H); H = mat2cell (H, p, m, ones (1, l))(:); endif endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__sys_connect__.m0000644000000000000000000000013213450727360020017 xustar0030 mtime=1554231024.093409695 30 atime=1554231024.093409695 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__sys_connect__.m0000644000175000017500000000323213450727360020260 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{retsys} =} __sys_connect__ (@var{sys}, @var{M}) ## This function is part of the Model Abstraction Layer. No argument checking. ## For internal use only. ## @example ## @group ## Problem: Solve the system equations of ## Y(s) = G(s) E(s) ## E(s) = U(s) + M Y(s) ## in order to build ## Y(s) = H(s) U(s) ## Solution: ## Y(s) = G(s) [U(s) + M Y(s)] ## Y(s) = G(s) U(s) + G(s) M Y(s) ## Y(s) = [I - G(s) M]^-1 G(s) U(s) ## \_______ _______/ ## H(s) ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function sys = __sys_connect__ (sys, M) ## FIXME: feedback (frd (ss (1)), frd (ss (-1))) [p, m, l] = size (sys.H); I = eye (p); H = mat2cell (sys.H, p, m, ones (1, l))(:); H = cellfun (@(x) (I - x*M) \ x, H, "uniformoutput", false); sys.H = cat (3, H{:}); endfunction control-3.2.0/inst/@frd/PaxHeaders.3947/__zero__.m0000644000000000000000000000013213450727360016447 xustar0030 mtime=1554231024.109410306 30 atime=1554231024.109410306 30 ctime=1554231028.525576056 control-3.2.0/inst/@frd/__zero__.m0000644000175000017500000000173513450727360016716 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Transmission zeros of FRD object. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function [zer, gain, info] = __zero__ (sys) error ("frd: zero: this is not possible"); endfunction control-3.2.0/inst/PaxHeaders.3947/bodemag.m0000644000000000000000000000013213450727360015417 xustar0030 mtime=1554231024.441422981 30 atime=1554231024.441422981 30 ctime=1554231028.525576056 control-3.2.0/inst/bodemag.m0000644000175000017500000000606313450727360015665 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {} bodemag (@var{sys}) ## @deftypefnx {Function File} {} bodemag (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}) ## @deftypefnx {Function File} {} bodemag (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{w}) ## @deftypefnx {Function File} {} bodemag (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'}) ## @deftypefnx {Function File} {[@var{mag}, @var{w}] =} bodemag (@var{sys}) ## @deftypefnx {Function File} {[@var{mag}, @var{w}] =} bodemag (@var{sys}, @var{w}) ## Bode magnitude diagram of frequency response. If no output arguments are given, ## the response is printed on the screen. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. Must be a single-input and single-output (SISO) system. ## @item w ## Optional vector of frequency values. If @var{w} is not specified, ## it is calculated by the zeros and poles of the system. ## Alternatively, the cell @code{@{wmin, wmax@}} specifies a frequency range, ## where @var{wmin} and @var{wmax} denote minimum and maximum frequencies ## in rad/s. ## @item 'style' ## Line style and color, e.g. 'r' for a solid red line or '-.k' for a dash-dotted ## black line. See @command{help plot} for details. ## @end table ## ## @strong{Outputs} ## @table @var ## @item mag ## Vector of magnitude. Has length of frequency vector @var{w}. ## @item w ## Vector of frequency values used. ## @end table ## ## @seealso{bode, nichols, nyquist, sigma} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 1.0 function [mag_r, w_r] = bodemag (varargin) if (nargin == 0) print_usage (); endif [H, w, sty, leg] = __frequency_response__ ("bodemag", varargin, nargout); H = cellfun (@reshape, H, {[]}, {1}, "uniformoutput", false); mag = cellfun (@abs, H, "uniformoutput", false); if (! nargout) mag_db = cellfun (@mag2db, mag, "uniformoutput", false); mag_args = horzcat (cellfun (@horzcat, w, mag_db, sty, "uniformoutput", false){:}); semilogx (mag_args{:}) axis ("tight") ylim (__axis_margin__ (ylim)) grid ("on") title ("Bode Magnitude Diagram") xlabel ("Frequency [rad/s]") ylabel ("Magnitude [dB]") legend (leg) else mag_r = mag{1}; w_r = w{1}; endif endfunction %!demo %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! bodemag(g); control-3.2.0/inst/PaxHeaders.3947/dlqr.m0000644000000000000000000000013213450727360014763 xustar0030 mtime=1554231024.461423745 30 atime=1554231024.461423745 30 ctime=1554231028.525576056 control-3.2.0/inst/dlqr.m0000644000175000017500000000606513450727360015233 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{sys}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{sys}, @var{q}, @var{r}, @var{s}) ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}) ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e}) ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e}) ## Linear-quadratic regulator for discrete-time systems. ## ## @strong{Inputs} ## @table @var ## @item sys ## Continuous or discrete-time @acronym{LTI} model (p-by-m, n states). ## @item a ## State transition matrix of discrete-time system (n-by-n). ## @item b ## Input matrix of discrete-time system (n-by-m). ## @item q ## State weighting matrix (n-by-n). ## @item r ## Input weighting matrix (m-by-m). ## @item s ## Optional cross term matrix (n-by-m). If @var{s} is not specified, a zero matrix is assumed. ## @item e ## Optional descriptor matrix (n-by-n). If @var{e} is not specified, an identity matrix is assumed. ## @end table ## ## @strong{Outputs} ## @table @var ## @item g ## State feedback matrix (m-by-n). ## @item x ## Unique stabilizing solution of the discrete-time Riccati equation (n-by-n). ## @item l ## Closed-loop poles (n-by-1). ## @end table ## ## @strong{Equations} ## @example ## @group ## x[k+1] = A x[k] + B u[k], x[0] = x0 ## ## inf ## J(x0) = SUM (x' Q x + u' R u + 2 x' S u) ## k=0 ## ## L = eig (A - B*G) ## @end group ## @end example ## @seealso{dare, care, lqr} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 0.2 function [g, x, l] = dlqr (a, b, q, r = [], s = [], e = []) if (nargin < 3 || nargin > 6) print_usage (); endif if (isa (a, "lti")) s = r; r = q; q = b; [a, b, c, d, e, tsam] = dssdata (a, []); elseif (nargin < 4) print_usage (); else tsam = 1; # any value > 0 could be used here endif if (issample (tsam, -1)) [x, l, g] = dare (a, b, q, r, s, e); else [x, l, g] = care (a, b, q, r, s, e); endif endfunction control-3.2.0/inst/PaxHeaders.3947/sigma.m0000644000000000000000000000013013450727360015117 xustar0029 mtime=1554231024.58542848 29 atime=1554231024.58542848 30 ctime=1554231028.525576056 control-3.2.0/inst/sigma.m0000644000175000017500000001003313450727360015357 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {} sigma (@var{sys}) ## @deftypefnx {Function File} {} sigma (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}) ## @deftypefnx {Function File} {} sigma (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{w}) ## @deftypefnx {Function File} {} sigma (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'}) ## @deftypefnx{Function File} {[@var{sv}, @var{w}] =} sigma (@var{sys}) ## @deftypefnx{Function File} {[@var{sv}, @var{w}] =} sigma (@var{sys}, @var{w}) ## Singular values of frequency response. If no output arguments are given, ## the singular value plot is printed on the screen. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. Multiple inputs and/or outputs (MIMO systems) make practical sense. ## @item w ## Optional vector of frequency values. If @var{w} is not specified, ## it is calculated by the zeros and poles of the system. ## Alternatively, the cell @code{@{wmin, wmax@}} specifies a frequency range, ## where @var{wmin} and @var{wmax} denote minimum and maximum frequencies ## in rad/s. ## @item 'style' ## Line style and color, e.g. 'r' for a solid red line or '-.k' for a dash-dotted ## black line. See @command{help plot} for details. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sv ## Array of singular values. For a system with m inputs and p outputs, the array sv ## has @code{min (m, p)} rows and as many columns as frequency points @code{length (w)}. ## The singular values at the frequency @code{w(k)} are given by @code{sv(:,k)}. ## @item w ## Vector of frequency values used. ## @end table ## ## @seealso{bodemag, svd} ## @end deftypefn ## Author: Lukas Reichlin ## Created: May 2009 ## Version: 1.0 function [sv_r, w_r] = sigma (varargin) if (nargin == 0) print_usage (); endif [H, w, sty, leg] = __frequency_response__ ("sigma", varargin, nargout); sv = cellfun (@(H) cellfun (@svd, H, "uniformoutput", false), H, "uniformoutput", false); sv = cellfun (@(sv) horzcat (sv{:}), sv, "uniformoutput", false); if (! nargout) # plot the information ## convert to dB for plotting sv_db = cellfun (@mag2db, sv, "uniformoutput", false); len = numel (H); colororder = get (gca, "colororder"); rc = rows (colororder); def = arrayfun (@(k) {"-", "color", colororder(1+rem (k-1, rc), :)}, 1:len, "uniformoutput", false); idx = cellfun (@isempty, sty); sty(idx) = def(idx); plot_args = horzcat (cellfun (@horzcat, w, sv_db, sty, "uniformoutput", false){:}); ## adjust line colors in legend idx = horzcat (1, cellfun (@rows, sv_db)(1:end-1)); idx = cumsum (idx); ## plot results h = semilogx (plot_args{:}); axis ("tight") ylim (__axis_margin__ (ylim)) grid ("on") title ("Singular Values") xlabel ("Frequency [rad/s]") ylabel ("Singular Values [dB]") legend (h(idx), leg) else # return values sv_r = sv{1}; w_r = reshape (w{1}, [], 1); endif endfunction %!shared sv_exp, w_exp, sv_obs, w_obs %! A = [1, 2; 3, 4]; %! B = [5, 6; 7, 8]; %! C = [4, 3; 2, 1]; %! D = [8, 7; 6, 5]; %! w = [2, 3, 4]; %! sv_exp = [7.9176, 8.6275, 9.4393; %! 0.6985, 0.6086, 0.5195]; %! w_exp = [2; 3; 4]; %! [sv_obs, w_obs] = sigma (ss (A, B, C, D), w); %!assert (sv_obs, sv_exp, 1e-4); %!assert (w_obs, w_exp, 1e-4); control-3.2.0/inst/PaxHeaders.3947/strseq.m0000644000000000000000000000013213450727360015342 xustar0030 mtime=1554231024.589428632 30 atime=1554231024.589428632 30 ctime=1554231028.525576056 control-3.2.0/inst/strseq.m0000644000175000017500000000256713450727360015615 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{strvec} =} strseq (@var{str}, @var{idx}) ## Return a cell vector of indexed strings by appending the indices @var{idx} ## to the string @var{str}. ## ## @example ## strseq ("x", 1:3) = @{"x1"; "x2"; "x3"@} ## strseq ("u", [1, 2, 5]) = @{"u1"; "u2"; "u5"@} ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.3 function strvec = strseq (str, idx) if (nargin != 2 || ! ischar (str) || ! isnumeric (idx)) print_usage (); endif strvec = arrayfun (@(x) sprintf ("%s%d", str, x), idx(:), "uniformoutput", false); endfunction control-3.2.0/inst/PaxHeaders.3947/__tf_dim__.m0000644000000000000000000000013013450727360016055 xustar0029 mtime=1554231024.42542237 29 atime=1554231024.42542237 30 ctime=1554231028.525576056 control-3.2.0/inst/__tf_dim__.m0000644000175000017500000000235113450727360016321 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Number of outputs and inputs of transfer function numerator and ## denominator. For internal use only. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function [nrows, ncols] = __tf_dim__ (num, den) [nrows, ncols] = size (num); [drows, dcols] = size (den); if (nrows != drows || ncols != dcols) error ("tf: arguments 'num' (%dx%d) and 'den' (%dx%d) must have equal dimensions", nrows, ncols, drows, dcols); endif endfunction control-3.2.0/inst/PaxHeaders.3947/isdetectable.m0000644000000000000000000000013213450727360016451 xustar0030 mtime=1554231024.525426189 30 atime=1554231024.525426189 30 ctime=1554231028.525576056 control-3.2.0/inst/isdetectable.m0000644000175000017500000000660413450727360016720 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{bool} =} isdetectable (@var{sys}) ## @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{sys}, @var{tol}) ## @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}) ## @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{e}) ## @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{[]}, @var{tol}) ## @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{e}, @var{tol}) ## @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{[]}, @var{[]}, @var{dflg}) ## @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{e}, @var{[]}, @var{dflg}) ## @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{[]}, @var{tol}, @var{dflg}) ## @deftypefnx {Function File} {@var{bool} =} isdetectable (@var{a}, @var{c}, @var{e}, @var{tol}, @var{dflg}) ## Logical test for system detectability. ## All unstable modes must be observable or all unobservable states must be stable. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. ## @item a ## State transition matrix. ## @item c ## Measurement matrix. ## @item e ## Descriptor matrix. ## If @var{e} is empty @code{[]} or not specified, an identity matrix is assumed. ## @item tol ## Optional tolerance for stability. Default value is 0. ## @item dflg = 0 ## Matrices (@var{a}, @var{c}) are part of a continuous-time system. Default Value. ## @item dflg = 1 ## Matrices (@var{a}, @var{c}) are part of a discrete-time system. ## @end table ## ## @strong{Outputs} ## @table @var ## @item bool = 0 ## System is not detectable. ## @item bool = 1 ## System is detectable. ## @end table ## ## ## @strong{Algorithm}@* ## Uses SLICOT AB01OD and TG01HD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## See @command{isstabilizable} for description of computational method. ## @seealso{isstabilizable, isstable, isctrb, isobsv} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function bool = isdetectable (a, c = [], e = [], tol = [], dflg = 0) if (nargin == 0) print_usage (); elseif (isa (a, "lti")) # isdetectable (sys), isdetectable (sys, tol) if (nargin > 2) print_usage (); endif bool = isstabilizable (a.', c); # transpose is overloaded elseif (nargin < 2 || nargin > 5) print_usage (); else # isdetectable (a, c, ...) bool = isstabilizable (a.', c.', e.', tol, dflg); # arguments checked inside endif endfunction control-3.2.0/inst/PaxHeaders.3947/__match_key__.m0000644000000000000000000000013013450727360016557 xustar0029 mtime=1554231024.38142069 29 atime=1554231024.38142069 30 ctime=1554231028.525576056 control-3.2.0/inst/__match_key__.m0000644000175000017500000000373613450727360017033 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Check whether string @var{str} matches one of the candidates ## in cell @var{props} exactly and return the matching property/key ## name. If no exact match is found, check whether there is a ## candidate name in @var{props} which starts with @var{str} and ## return the partial match. In case of ambiguity or a mismatch, ## raise an error. ## Author: Lukas Reichlin ## Created: June 2015 ## Version: 0.1 function key = __match_key__ (str, props, caller = "match_key") if (! ischar (str)) error ("%s: key name must be a string", caller); endif ## exact matching - needed for e.g. iddata properties "u" and "userdata" idx = strcmpi (str, props); n = sum (idx); if (n == 1) # 1 exact match key = lower (str); return; elseif (n > 1) # props are not unique, this would be a bug in the control package error ("%s: key name '%s' is ambiguous", caller, str); endif ## partial matching - n was zero idx = strncmpi (str, props, length (str)); n = sum (idx); if (n == 1) key = lower (props{idx}); return; elseif (n > 1) error ("%s: key name '%s' is ambiguous", caller, str); endif error ("%s: key name '%s' is unknown", caller, str); endfunction control-3.2.0/inst/PaxHeaders.3947/pzmap.m0000644000000000000000000000013213450727360015150 xustar0030 mtime=1554231024.577428174 30 atime=1554231024.577428174 30 ctime=1554231028.525576056 control-3.2.0/inst/pzmap.m0000644000175000017500000001140113450727360015406 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {} pzmap (@var{sys}) ## @deftypefnx {Function File} {} pzmap (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}) ## @deftypefnx {Function File} {} pzmap (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'}) ## @deftypefnx {Function File} {[@var{p}, @var{z}] =} pzmap (@var{sys}) ## Plot the poles and zeros of an LTI system in the complex plane. ## If no output arguments are given, the result is plotted on the screen. ## Otherwise, the poles and zeros are computed and returned. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @item 'style' ## Line style and color, e.g. 'r' for a solid red line or '-.k' for a dash-dotted ## black line. See @command{help plot} for details. ## @end table ## ## @strong{Outputs} ## @table @var ## @item p ## Poles of @var{sys}. ## @item z ## Invariant zeros of @var{sys}. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 0.2 function [pol_r, zer_r] = pzmap (varargin) if (nargin == 0) print_usage (); endif sys_idx = cellfun (@isa, varargin, {"lti"}); # look for LTI models sty_idx = cellfun (@ischar, varargin); # look for strings (plot styles) inv_idx = ! (sys_idx | sty_idx); # invalid arguments if (any (inv_idx)) warning ("pzmap: arguments number %s are invalid and are being ignored", ... mat2str (find (inv_idx)(:).')); endif if (nnz (sys_idx) == 0) error ("pzmap: require at least one LTI model"); endif if (nargout > 0 && (nnz (sys_idx) > 1 || any (sty_idx))) print_usage (); endif if (any (find (sty_idx) < find (sys_idx)(1))) warning ("pzmap: strings in front of first LTI model are being ignored"); endif pol = cellfun (@pole, varargin(sys_idx), "uniformoutput", false); zer = cellfun (@zero, varargin(sys_idx), "uniformoutput", false); if (! nargout) pol_re = cellfun (@real, pol, "uniformoutput", false); pol_im = cellfun (@imag, pol, "uniformoutput", false); zer_re = cellfun (@real, zer, "uniformoutput", false); zer_im = cellfun (@imag, zer, "uniformoutput", false); ## extract plotting styles tmp = cumsum (sys_idx); tmp(sys_idx | ! sty_idx) = 0; n = nnz (sys_idx); sty = arrayfun (@(x) varargin(tmp == x), 1:n, "uniformoutput", false); colororder = get (gca, "colororder"); rc = rows (colororder); def_pol = arrayfun (@(k) {"x", "color", colororder(1+rem (k-1, rc), :)}, 1:n, "uniformoutput", false); def_zer = arrayfun (@(k) {"o", "color", colororder(1+rem (k-1, rc), :)}, 1:n, "uniformoutput", false); idx = cellfun (@isempty, sty); sty_pol = sty_zer = sty; sty_pol(idx) = def_pol(idx); sty_zer(idx) = def_zer(idx); pol_args = horzcat (cellfun (@horzcat, pol_re, pol_im, sty_pol, "uniformoutput", false){:}); zer_args = horzcat (cellfun (@horzcat, zer_re, zer_im, sty_zer, "uniformoutput", false){:}); leg_args = cell (1, n); idx = find (sys_idx); for k = 1 : n try leg_args{k} = inputname (idx(k)); catch leg_args{k} = ""; # needed for pzmap (lticell{:}) end_try_catch endfor ## FIXME: try to combine "x", "o" and style for custom colors ## If no zeroes then just plot the poles and vice versa if (isempty ( zer{:})) h = plot (pol_args{:}); elseif (isempty ( pol{:})) h = plot (zer_args{:}); else h = plot (pol_args{:}, zer_args{:}); endif grid ("on") title ("Pole-Zero Map") xlabel ("Real Axis") ylabel ("Imaginary Axis") legend (h(1:n), leg_args) else pol_r = pol{1}; zer_r = zer{1}; endif endfunction %!demo %! s = tf('s'); %! g = (s-1)/(s-2)/(s-3); %! pzmap(g); %!test %! s = tf('s'); %! g = (s-1)/(s-2)/(s-3); %! [pol zer] = pzmap(g); %! assert(sort(pol), [2 3]', 2*eps); %! assert(zer, 1, eps); %!demo %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! pzmap(g); %!test %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! pol = pzmap(g); %! assert(sort(pol), sort(roots([2 3 4]')), eps); control-3.2.0/inst/PaxHeaders.3947/@tf0000644000000000000000000000013213450727360014277 xustar0030 mtime=1554231024.293417331 30 atime=1554231028.525576056 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/0000755000175000017500000000000013450727360014615 5ustar00olafolaf00000000000000control-3.2.0/inst/@tf/PaxHeaders.3947/tf.m0000644000000000000000000000013213450727360015143 xustar0030 mtime=1554231024.293417331 30 atime=1554231024.293417331 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/tf.m0000644000175000017500000001633213450727360015411 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{s} =} tf (@var{'s'}) ## @deftypefnx {Function File} {@var{z} =} tf (@var{'z'}, @var{tsam}) ## @deftypefnx {Function File} {@var{sys} =} tf (@var{sys}) ## @deftypefnx {Function File} {@var{sys} =} tf (@var{mat}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} tf (@var{num}, @var{den}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} tf (@var{num}, @var{den}, @var{tsam}, @dots{}) ## Create or convert to transfer function model. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model to be converted to transfer function. ## @item mat ## Gain matrix to be converted to static transfer function. ## @item num ## Numerator or cell of numerators. Each numerator must be a row vector ## containing the coefficients of the polynomial in descending powers of ## the transfer function variable. ## num@{i,j@} contains the numerator polynomial from input j to output i. ## In the SISO case, a single vector is accepted as well. ## @item den ## Denominator or cell of denominators. Each denominator must be a row vector ## containing the coefficients of the polynomial in descending powers of ## the transfer function variable. ## den@{i,j@} contains the denominator polynomial from input j to output i. ## In the SISO case, a single vector is accepted as well. ## @item tsam ## Sampling time in seconds. If @var{tsam} is not specified, a continuous-time ## model is assumed. ## @item @dots{} ## Optional pairs of properties and values. ## Type @command{set (tf)} for more information. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Transfer function model. ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'num' ## Numerator. See 'Inputs' for details. ## ## @item 'den' ## Denominator. See 'Inputs' for details. ## ## @item 'tfvar' ## String containing the transfer function variable. ## ## @item 'inv' ## Logical. True for negative powers of the transfer function variable. ## ## @item 'tsam' ## Sampling time. See 'Inputs' for details. ## ## @item 'inname' ## The name of the input channels in @var{sys}. ## Cell vector of length m containing strings. ## Default names are @code{@{'u1', 'u2', ...@}} ## ## @item 'outname' ## The name of the output channels in @var{sys}. ## Cell vector of length p containing strings. ## Default names are @code{@{'y1', 'y2', ...@}} ## ## @item 'ingroup' ## Struct with input group names as field names and ## vectors of input indices as field values. ## Default is an empty struct. ## ## @item 'outgroup' ## Struct with output group names as field names and ## vectors of output indices as field values. ## Default is an empty struct. ## ## @item 'name' ## String containing the name of the model. ## ## @item 'notes' ## String or cell of string containing comments. ## ## @item 'userdata' ## Any data type. ## @end table ## ## @strong{Example} ## @example ## @group ## octave:1> s = tf ('s'); ## octave:2> G = 1/(s+1) ## ## Transfer function 'G' from input 'u1' to output ... ## ## 1 ## y1: ----- ## s + 1 ## ## Continuous-time model. ## @end group ## @end example ## @example ## @group ## octave:3> z = tf ('z', 0.2); ## octave:4> H = 0.095/(z-0.9) ## ## Transfer function 'H' from input 'u1' to output ... ## ## 0.095 ## y1: ------- ## z - 0.9 ## ## Sampling time: 0.2 s ## Discrete-time model. ## @end group ## @end example ## @example ## @group ## octave:5> num = @{[1, 5, 7], [1]; [1, 7], [1, 5, 5]@}; ## octave:6> den = @{[1, 5, 6], [1, 2]; [1, 8, 6], [1, 3, 2]@}; ## octave:7> sys = tf (num, den) ## @end group ## @end example ## ## @example ## @group ## Transfer function 'sys' from input 'u1' to output ... ## ## s^2 + 5 s + 7 ## y1: ------------- ## s^2 + 5 s + 6 ## ## s + 7 ## y2: ------------- ## s^2 + 8 s + 6 ## @end group ## @end example ## ## @example ## @group ## Transfer function 'sys' from input 'u2' to output ... ## ## 1 ## y1: ----- ## s + 2 ## ## s^2 + 5 s + 5 ## y2: ------------- ## s^2 + 3 s + 2 ## ## Continuous-time model. ## octave:8> ## @end group ## @end example ## ## @seealso{filt, ss, dss} ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.4 function sys = tf (varargin) ## model precedence: frd > ss > zpk > tf > double ## inferiorto ("frd", "ss", "zpk"); # error if de-commented. bug in octave? superiorto ("double"); if (nargin == 1) if (isa (varargin{1}, "tf")) # tf (tfsys) sys = varargin{1}; return; elseif (isa (varargin{1}, "lti")) # tf (ltisys) [sys, lti] = __sys2tf__ (varargin{1}); sys.lti = lti; return; elseif (ischar (varargin{1})) # s = tf ('s') sys = tf ([1, 0], 1, "tfvar", varargin{:}); return; endif elseif (nargin == 2 ... && ischar (varargin{1}) ... && is_zp_vector (varargin{2}) ... && length (varargin{2}) <= 1) # z = tf ('z', tsam) sys = tf ([1, 0], 1, varargin{2}, "tfvar", varargin{[1,3:end]}); return; endif num = {}; den = {}; # default transfer matrix tsam = -2; # default sampling time [mat_idx, opt_idx, obj_flg] = __lti_input_idx__ (varargin); switch (numel (mat_idx)) case 1 num = varargin{mat_idx}; case 2 [num, den] = varargin{mat_idx}; tsam = 0; case 3 [num, den, tsam] = varargin{mat_idx}; if (isempty (tsam) && is_real_matrix (tsam)) tsam = -1; elseif (! issample (tsam, -10)) error ("tf: invalid sampling time"); endif case 0 ## nothing to do here, just prevent case 'otherwise' otherwise print_usage (); endswitch varargin = varargin(opt_idx); if (obj_flg) varargin = horzcat ({"lti"}, varargin); endif [num, den, tsam, tfvar] = __adjust_tf_data__ (num, den, tsam); [p, m] = __tf_dim__ (num, den); # determine number of outputs and inputs tfdata = struct ("num", {num}, "den", {den}, "tfvar", tfvar, "inv", false); # struct for tf-specific data ltisys = lti (p, m, tsam); # parent class for general lti data sys = class (tfdata, "tf", ltisys); # create tf object if (numel (varargin) > 0) # if there are any properties and values, ... sys = set (sys, varargin{:}); # use the general set function endif endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__pole__.m0000644000000000000000000000013213450727360016265 xustar0030 mtime=1554231024.273416567 30 atime=1554231024.273416567 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__pole__.m0000644000175000017500000000211513450727360016525 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Poles of TF object. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.2 function pol = __pole__ (sys) if (issiso (sys)) pol = roots (sys.den{1}); else warning ("tf: pole: converting to minimal state-space for pole computation of mimo tf"); pol = pole (ss (sys)); endif endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/horzcat.m0000644000000000000000000000013213450727360016204 xustar0030 mtime=1554231024.289417178 30 atime=1554231024.289417178 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/horzcat.m0000644000175000017500000000356013450727360016451 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Horizontal concatenation of @acronym{TF} objects. ## Used by Octave for "[sys1, sys2]". ## Avoids conversion to state-space and back by overriding ## the general horzcat function for @acronym{LTI} objects. ## Author: Lukas Reichlin ## Created: April 2014 ## Version: 0.1 function sys = horzcat (sys, varargin) sys = tf (sys); varargin = cellfun (@tf, varargin, "uniformoutput", false); for k = 1 : (nargin-1) sys1 = sys; sys2 = varargin{k}; sys = tf (); sys.lti = __lti_group__ (sys1.lti, sys2.lti, "horzcat"); [p1, m1] = size (sys1.num); [p2, m2] = size (sys2.num); if (p1 != p2) error ("tf: horzcat: number of system outputs incompatible: [(%dx%d), (%dx%d)]", p1, m1, p2, m2); endif sys.num = [sys1.num, sys2.num]; sys.den = [sys1.den, sys2.den]; if (strcmp (sys1.tfvar, sys2.tfvar)) sys.tfvar = sys1.tfvar; elseif (strcmp (sys1.tfvar, "x")) sys.tfvar = sys2.tfvar; else sys.tfvar = sys1.tfvar; endif if (sys1.inv || sys2.inv) sys.inv = true; endif endfor endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__minreal__.m0000644000000000000000000000013213450727360016755 xustar0030 mtime=1554231024.273416567 30 atime=1554231024.273416567 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__minreal__.m0000644000175000017500000000407313450727360017222 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Minimal realization of TF models. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.2 function sys = __minreal__ (sys, tol) sqrt_eps = sqrt (eps); # treshold for zero [p, m] = size (sys); for ny = 1 : p for nu = 1 : m sisosys = __sys_prune__ (sys, ny, nu); [zer, gain] = zero (sisosys); pol = pole (sisosys); for k = length (zer) : -1 : 1 # reversed because of deleted zeros [~, idx] = min (abs (zer(k) - pol)); # find best match if (strcmpi (tol, "def")) if (abs (zer(k)) < sqrt_eps) # catch case zer(k) = 0 t = 1000 * eps; else t = 1000 * abs (zer(k)) * sqrt_eps; endif else t = tol; endif if (abs (zer(k) - pol(idx)) < t) zer(k) = []; pol(idx) = []; endif endfor num = real (gain * poly (zer)); den = real (poly (pol)); [n, d] = tfdata (sisosys, "vector"); if (size_equal (num, n) && size_equal (den, d)) if (d(1) != 1) n /= d(1); d /= d(1); endif num = n; den = d; endif sys.num{ny, nu} = tfpoly (num); sys.den{ny, nu} = tfpoly (den); endfor endfor endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__sys2frd__.m0000644000000000000000000000013013450727360016720 xustar0029 mtime=1554231024.27741672 29 atime=1554231024.27741672 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__sys2frd__.m0000644000175000017500000000220213450727360017157 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## TF to FRD conversion. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function [retsys, retlti] = __sys2frd__ (sys, w = []) if (isempty (w)) # case sys = frd (sys) w = __frequency_vector__ (sys); endif H = freqresp (sys, w); retsys = frd (H, w); # tsam is set below retlti = sys.lti; # preserve lti properties endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__sys_inverse__.m0000644000000000000000000000013213450727360017677 xustar0030 mtime=1554231024.281416872 30 atime=1554231024.281416872 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__sys_inverse__.m0000644000175000017500000000275113450727360020145 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Inversion of TF models. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function sys = __sys_inverse__ (sys) if (issiso (sys)) # SISO num = sys.num; den = sys.den; if (num{1,1} == 0) # catch case num = 0 sys.num(1,1) = tfpoly (0); sys.den(1,1) = tfpoly (1); else sys.num = den; sys.den = num; endif else # MIMO ## I've calculated TF inversion of 2x2 and 3x3 systems with Sage CAS, ## but the formulae give systems with very high orders, therefore ## I always use the conversion to state-space and back. [num, den] = tfdata (inv (ss (sys)), "tfpoly"); sys.num = num; sys.den = den; endif endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__get__.m0000644000000000000000000000013213450727360016105 xustar0030 mtime=1554231024.269416414 30 atime=1554231024.269416414 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__get__.m0000644000175000017500000000254513450727360016354 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Access key values of TF objects. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.5 function val = __get__ (sys, key) switch (key) # {, } case "num" val = cellfun (@get, sys.num, "uniformoutput", false); case "den" val = cellfun (@get, sys.den, "uniformoutput", false); case {"tfvar", "variable"} val = sys.tfvar; if (sys.inv && isdt (sys)) val = [val, "^-1"]; endif case "inv" val = sys.inv; otherwise error ("tf: get: invalid key name '%s'", key); endswitch endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__sys_prune__.m0000644000000000000000000000013213450727360017355 xustar0030 mtime=1554231024.285417026 30 atime=1554231024.285417026 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__sys_prune__.m0000644000175000017500000000225613450727360017623 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Submodel extraction and reordering for TF objects. ## This file is part of the Model Abstraction Layer. ## For internal use only. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.1 function sys = __sys_prune__ (sys, out_idx, in_idx) [sys.lti, out_idx, in_idx] = __lti_prune__ (sys.lti, out_idx, in_idx); sys.num = sys.num(out_idx, in_idx); sys.den = sys.den(out_idx, in_idx); endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__sys_group__.m0000644000000000000000000000013213450727360017360 xustar0030 mtime=1554231024.281416872 30 atime=1554231024.281416872 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__sys_group__.m0000644000175000017500000000337613450727360017632 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Block diagonal concatenation of two TF models. ## This file is part of the Model Abstraction Layer. ## For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function retsys = __sys_group__ (sys1, sys2) if (! isa (sys1, "tf")) sys1 = tf (sys1); endif if (! isa (sys2, "tf")) sys2 = tf (sys2); endif retsys = tf (); retsys.lti = __lti_group__ (sys1.lti, sys2.lti); [p1, m1] = size (sys1); [p2, m2] = size (sys2); empty12 = tfpolyzeros (p1, m2); empty21 = tfpolyzeros (p2, m1); retsys.num = [sys1.num, empty12 ; empty21, sys2.num]; empty12 = tfpolyones (p1, m2); empty21 = tfpolyones (p2, m1); retsys.den = [sys1.den, empty12 ; empty21, sys2.den]; if (sys1.tfvar == sys2.tfvar) retsys.tfvar = sys1.tfvar; elseif (sys1.tfvar == "x") retsys.tfvar = sys2.tfvar; else retsys.tfvar = sys1.tfvar; endif if (sys1.inv || sys2.inv) retsys.inv = true; endif endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__times__.m0000644000000000000000000000013213450727360016447 xustar0030 mtime=1554231024.285417026 30 atime=1554231024.285417026 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__times__.m0000644000175000017500000000301113450727360016703 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Hadamard/Schur product of @acronym{TF} objects. ## Used by Octave for "sys1 .* sys2". ## Author: Lukas Reichlin ## Created: April 2014 ## Version: 0.1 function sys = __times__ (sys1, sys2) if (! isa (sys1, "tf")) sys1 = tf (sys1); endif if (! isa (sys2, "tf")) sys2 = tf (sys2); endif sys = tf (); sys.lti = __lti_group__ (sys1.lti, sys2.lti, "times"); sys.num = cellfun (@mtimes, sys1.num, sys2.num, "uniformoutput", false); sys.den = cellfun (@mtimes, sys1.den, sys2.den, "uniformoutput", false); if (sys1.tfvar == sys2.tfvar) sys.tfvar = sys1.tfvar; elseif (sys1.tfvar == "x") sys.tfvar = sys2.tfvar; else sys.tfvar = sys1.tfvar; endif if (sys1.inv || sys2.inv) sys.inv = true; endif endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__c2d__.m0000644000000000000000000000013213450727360015776 xustar0030 mtime=1554231024.265416262 30 atime=1554231024.265416262 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__c2d__.m0000644000175000017500000000600313450727360016236 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Convert the continuous TF model into its discrete-time equivalent. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function sys = __c2d__ (sys, tsam, method = "zoh", w0 = 0) if (strncmpi (method, "i", 1)) # "impulse invariant" if (! issiso (sys)) error ("tf: c2d: require SISO system for impulse invariant method"); endif sys=imp_invar(sys,1/tsam); elseif (strncmpi (method, "m", 1)) # "matched" ## TODO: move this code to @zpk/__c2d__.m once ZPK models are implemented if (! issiso (sys)) error ("tf: c2d: require SISO system for matched pole/zero method"); endif [z_c, p_c, k_c] = zpkdata (sys, "vector"); p_d = exp (p_c * tsam); z_d = exp (z_c * tsam); if (any (! isfinite (p_d)) || any (! isfinite (z_d))) error ("tf: c2d: discrete-time poles and zeros are not finite"); endif ## continuous-time zeros at infinity are mapped to -1 in discrete-time ## except for one. for non-proper transfer functions, no zeros at -1 are added. np = length (p_c); # number of poles nz = length (z_c); # number of finite zeros, np-nz number of infinite zeros z_d = vertcat (z_d, repmat (-1, np-nz-1, 1)); ## the discrete-time gain k_d is matched at a certain frequency (w_c, w_d) ## to continuous-time gain k_c. the dc gain is taken (w_c=0, w_d=1) unless ## there are continuous-time poles/zeros near 0. then w_c=1/tsam is taken. w_c = 0; # dc gain tol = sqrt (eps); # poles/zeros below tol are assumed to be zero while (any (abs ([p_c; z_c] - w_c) < tol)) w_c += 0.1 / tsam; endwhile w_d = exp (w_c * tsam); k_d = real (k_c * prod (w_c - z_c) / prod (w_c - p_c) * prod (w_d - p_d) / prod (w_d - z_d)); tmp = zpk (z_d, p_d, k_d, tsam); sys.num = tmp.num; sys.den = tmp.den; else [p, m] = size (sys); for i = 1 : p for j = 1 : m idx = substruct ("()", {i, j}); tmp = subsref (sys, idx); tmp = c2d (ss (tmp), tsam, method, w0); [num, den] = tfdata (tmp, "tfpoly"); sys.num(i, j) = num; sys.den(i, j) = den; endfor endfor endif sys.tfvar = "z"; endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__sys2ss__.m0000644000000000000000000000013013450727360016572 xustar0029 mtime=1554231024.27741672 29 atime=1554231024.27741672 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__sys2ss__.m0000644000175000017500000001211113450727360017031 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## TF to SS conversion. ## Reference: ## Varga, A.: Computation of irreducible generalized state-space realizations. ## Kybernetika, 26:89-106, 1990 ## Special thanks to Vasile Sima and Andras Varga for their advice. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.8 function [retsys, retlti] = __sys2ss__ (sys) ## TODO: determine appropriate tolerance from number of inputs ## (since we multiply all denominators in a row), index, ... ## default tolerance from TB01UD is TOLDEF = N*N*EPS ## SECRET WISH: a routine which accepts individual denominators for ## each channel and which supports descriptor systems [p, m] = size (sys); [num, den] = tfdata (sys); len_num = cellfun (@length, num); len_den = cellfun (@length, den); ## check for properness ## tfpoly ensures that there are no leading zeros tmp = len_num > len_den; if (any (tmp(:))) # non-proper transfer function ## separation into strictly proper and polynomial part [numq, numr] = cellfun (@deconv, num, den, "uniformoutput", false); numr = cellfun (@(num_v, len_d) num_v(max(1,end-len_d+2):end), ... numr, num2cell (len_den), "uniformoutput", false); numq = cellfun (@__remove_leading_zeros__, numq, "uniformoutput", false); numr = cellfun (@__remove_leading_zeros__, numr, "uniformoutput", false); ## minimal state-space realization for the proper part [a1, b1, c1] = __proper_tf2ss__ (numr, den, p, m); e1 = eye (size (a1)); ## minimal realization for the polynomial part [e2, a2, b2, c2] = __polynomial_tf2ss__ (numq, p, m); ## assemble irreducible descriptor realization e = blkdiag (e1, e2); a = blkdiag (a1, a2); b = vertcat (b1, b2); c = horzcat (c1, c2); retsys = dss (a, b, c, [], e); else # proper transfer function [a, b, c, d] = __proper_tf2ss__ (num, den, p, m); retsys = ss (a, b, c, d); endif retlti = sys.lti; # preserve lti properties such as tsam endfunction ## transfer function to state-space conversion for proper models function [a, b, c, d] = __proper_tf2ss__ (num, den, p, m) ## new cells for the TF of same row denominators numc = cell (p, m); denc = cell (p, 1); ## multiply all denominators in a row and ## update each numerator accordingly ## except for single-input models and those ## with equal denominators in a row for i = 1 : p if (m == 1 || isequal (den{i,:})) denc(i) = den{i,1}; numc(i,:) = num(i,:); else denc(i) = __conv__ (den{i,:}); for j = 1 : m idx = setdiff (1:m, j); numc(i,j) = __conv__ (num{i,j}, den{i,idx}); endfor endif endfor len_numc = cellfun (@length, numc); len_denc = cellfun (@length, denc); ## create arrays and fill in the data ## in a way that Slicot TD04AD can use max_len_denc = max (len_denc(:)); ucoeff = zeros (p, m, max_len_denc); dcoeff = zeros (p, max_len_denc); index = len_denc-1; for i = 1 : p len = len_denc(i); dcoeff(i, 1:len) = denc{i}; for j = 1 : m ucoeff(i, j, len-len_numc(i,j)+1 : len) = numc{i,j}; endfor endfor tol = min (sqrt (eps), eps*prod (index)); [a, b, c, d] = __sl_td04ad__ (ucoeff, dcoeff, index, tol); endfunction ## realization of the polynomial part according to Andras' paper function [e2, a2, b2, c2] = __polynomial_tf2ss__ (numq, p, m) len_numq = cellfun (@length, numq); max_len_numq = max (len_numq(:)); numq = cellfun (@(x) prepad (x, max_len_numq, 0, 2), numq, "uniformoutput", false); f = @(y) cellfun (@(x) x(y), numq); s = 1 : max_len_numq; D = arrayfun (f, s, "uniformoutput", false); e2 = diag (ones (p*(max_len_numq-1), 1), -p); a2 = eye (p*max_len_numq); b2 = vertcat (D{:}); c2 = horzcat (zeros (p, p*(max_len_numq-1)), -eye (p)); ## remove uncontrollable part [a2, e2, b2, c2] = __sl_tg01jd__ (a2, e2, b2, c2, 0.0, true, 1, 2); endfunction ## convolution for more than two arguments function vec = __conv__ (vec, varargin) if (nargin == 1) return; else for k = 1 : nargin-1 vec = conv (vec, varargin{k}); endfor endif endfunction ## remove leading zeros from polynomial vector function p = __remove_leading_zeros__ (p) idx = find (p != 0, 1); if (isempty (idx)) p = 0; else p = p(idx : end); endif endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/display.m0000644000000000000000000000013213450727360016177 xustar0030 mtime=1554231024.289417178 30 atime=1554231024.289417178 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/display.m0000644000175000017500000000623413450727360016445 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Display routine for TF objects. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.4 function display (sys) sysname = inputname (1); [inname, outname, tsam] = __lti_data__ (sys.lti); [inname, m] = __labels__ (inname, "u"); [outname, p] = __labels__ (outname, "y"); disp (""); if (sys.inv && ! isct (sys)) [num, den] = filtdata (sys); # 'num' and 'den' are cells of real-valued vectors else num = sys.num; # 'num' and 'den' are cells of 'tfpoly' objects den = sys.den; endif for nu = 1 : m disp (["Transfer function '", sysname, "' from input '", inname{nu}, "' to output ..."]); disp (""); for ny = 1 : p __disp_frac__ (num{ny, nu}, den{ny, nu}, sys.tfvar, outname{ny}); endfor endfor display (sys.lti); # display sampling time if (tsam == -2) disp ("Static gain."); elseif (tsam == 0) disp ("Continuous-time model."); else disp ("Discrete-time model."); endif endfunction ## NOTE: * Function handles both 'tfpoly' objects and real-valued vectors. ## * The general 'tfpoly2str' function returns strings with ## negative powers of 'tfvar'. ## * The overloaded 'tfpoly2str' function returns strings with ## positive powers of 'tfvar'. function __disp_frac__ (num, den, tfvar, name) MAX_LEN = 12; # max length of output name tfp = isa (num, "tfpoly"); if (num == tfpoly (0)) str = [" ", name, ": 0"]; elseif ((tfp && den == 1) || (! tfp && isequal (den, 1))) ## elseif (den == tfpoly (1)) doesn't work because it ## would mistakingly accept non-tfpoly denominators like [0, 1] str = [" ", name, ": "]; numstr = tfpoly2str (num, tfvar); str = [str, numstr]; ##elseif (length (den) == 1) # de-comment for non-development use ## str = [" ", name, ": "]; ## num = num * (1/get (den)); ## numstr = tfpoly2str (num, tfvar); ## str = [str, numstr]; else numstr = tfpoly2str (num, tfvar); denstr = tfpoly2str (den, tfvar); fracstr = repmat ("-", 1, max (length (numstr), length (denstr))); str = strjust (strvcat (numstr, fracstr, denstr), "center"); namestr = name(:, 1 : min (MAX_LEN, end)); namestr = [namestr, ": "]; namestr = strjust (strvcat (" ", namestr, " "), "left"); namestr = horzcat (repmat (" ", 3, 1), namestr); str = [namestr, str]; endif disp (str); disp (""); endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__set__.m0000644000000000000000000000013213450727360016121 xustar0030 mtime=1554231024.273416567 30 atime=1554231024.273416567 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__set__.m0000644000175000017500000000666113450727360016373 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Set or modify keys of TF objects. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function sys = __set__ (sys, key, val) switch (key) # {, } case "num" if (get (sys, "tsam") == -2) # NOTE: sys.lti.tsam would call 'get' via 'subsref' error (["tf: set: tinkering with numerators of static gains is disabled on purpose. " ... "to avoid this error, set the sampling time of your LTI model first."]); elseif (sys.inv) # FIXME: f = filt (1, [1 0 0 1]), f.num = 1 warning ("tf:num-inv", ... "tf: although system is displayed in '%s^-1', numerator 'num' must be specified in '%s'", ... sys.tfvar, sys.tfvar); endif num = __adjust_tf_data__ (val, sys.den); __tf_dim__ (num, sys.den); sys.num = num; case "den" if (get (sys, "tsam") == -2) error (["tf: set: tinkering with denominators of static gains is disabled on purpose. " ... "to avoid this error, set the sampling time of your LTI model first."]); elseif (sys.inv) # FIXME: f = filt ([1 0 0 1], 1), f.den = 1 warning ("tf:den-inv", ... "tf: although system is displayed in '%s^-1', denominator 'den' must be specified in '%s'", ... sys.tfvar, sys.tfvar); endif [~, den] = __adjust_tf_data__ (sys.num, val); __tf_dim__ (sys.num, den); sys.den = den; case {"tfvar", "variable"} if (ischar (val)) candidates = {"s", "p", "z", "q", "z^-1", "q^-1"}; idx = strcmpi (val, candidates); if (any (idx)) val = candidates{idx}; n = find (idx); if (n > 2 && isct (sys)) error ("tf: set: variable '%s' not allowed for static gains and continuous-time models", val); elseif (n < 3 && isdt (sys)) error ("tf: set: variable '%s' not allowed for static gains and discrete-time models", val); endif if (isscalar (val)) sys.tfvar = val; sys.inv = false; else sys.tfvar = val(1); sys.inv = true; endif else error ("tf: set: the string '%s' is not a valid transfer function variable", val); endif else error ("tf: set: key '%s' requires a string", prop); endif case "inv" if (islogical (val) && isscalar (val) || is_real_scalar (val)) sys.inv = logical (val); else error ("tf: set: key 'inv' must be a scalar logical"); endif otherwise error ("tf: set: invalid key name '%s'", key); endswitch endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__transpose__.m0000644000000000000000000000013213450727360017344 xustar0030 mtime=1554231024.285417026 30 atime=1554231024.285417026 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__transpose__.m0000644000175000017500000000174713450727360017616 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Transpose of TF models. ## Author: Lukas Reichlin ## Created: February 2010 ## Version: 0.1 function sys = __transpose__ (sys) num = sys.num; den = sys.den; sys.num = num.'; sys.den = den.'; endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__sys_data__.m0000644000000000000000000000013213450727360017135 xustar0030 mtime=1554231024.281416872 30 atime=1554231024.281416872 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__sys_data__.m0000644000175000017500000000176713450727360017411 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Used by tfdata instead of multiple get calls. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.1 function [num, den, tfvar] = __sys_data__ (sys) num = sys.num; den = sys.den; tfvar = sys.tfvar; endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__sys_keys__.m0000644000000000000000000000013213450727360017177 xustar0030 mtime=1554231024.285417026 30 atime=1554231024.281416872 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__sys_keys__.m0000644000175000017500000000321313450727360017437 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{keys}, @var{vals}] =} __sys_keys__ (@var{sys}) ## @deftypefnx {Function File} {[@var{keys}, @var{vals}] =} __sys_keys__ (@var{sys}, @var{aliases}) ## Return the list of keys as well as the assignable values for a tf object sys. ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function [keys, vals] = __sys_keys__ (sys, aliases = false) ## cell vector of tf-specific keys keys = {"num"; "den"; "tfvar"; "inv"}; ## cell vector of tf-specific assignable values vals = {"p-by-m cell array of row vectors (m = number of inputs)"; "p-by-m cell array of row vectors (p = number of outputs)"; "string (usually s or z)"; "logical (true for negative powers of TF variable)"}; if (aliases) ka = {"variable"}; keys = [keys; ka]; endif endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__d2c__.m0000644000000000000000000000013213450727360015776 xustar0030 mtime=1554231024.269416414 30 atime=1554231024.269416414 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__d2c__.m0000644000175000017500000000432613450727360016244 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Convert the discrete TF model into its continuous-time equivalent. ## Author: Lukas Reichlin ## Created: September 2011 ## Version: 0.2 function sys = __d2c__ (sys, tsam, method = "zoh", w0 = 0) if (strncmpi (method, "m", 1)) # "matched" ## TODO: move this code to @zpk/__d2c__.m once ZPK models are implemented if (! issiso (sys)) error ("tf: d2c: require SISO system for matched pole/zero method"); endif [z_d, p_d, k_d] = zpkdata (sys, "vector"); if (any (abs (p_d) < eps) || any (abs (z_d) < eps)) error ("tf: d2c: discrete-time poles and zeros at 0 not supported because log(0) is -Inf"); endif z_d_orig = z_d; z_d(abs (z_d+1) < sqrt (eps)) = []; p_c = log (p_d) / tsam; z_c = log (z_d) / tsam; w_c = 0; w_d = 1; tol = sqrt (eps); while (any (abs ([p_d; z_d_orig] - w_d) < tol)) w_c += 0.1 / tsam; endwhile w_d = exp (w_c * tsam); k_c = real (k_d * prod (w_d - z_d_orig) / prod (w_d - p_d) * prod (w_c - p_c) / prod (w_c - z_c)); tmp = zpk (z_c, p_c, k_c); sys.num = tmp.num; sys.den = tmp.den; else [p, m] = size (sys); for i = 1 : p for j = 1 : m idx = substruct ("()", {i, j}); tmp = subsref (sys, idx); tmp = d2c (ss (tmp), method, w0); [num, den] = tfdata (tmp, "tfpoly"); sys.num(i, j) = num; sys.den(i, j) = den; endfor endfor endif sys.tfvar = "s"; endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__ctranspose__.m0000644000000000000000000000013213450727360017507 xustar0030 mtime=1554231024.265416262 30 atime=1554231024.265416262 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__ctranspose__.m0000644000175000017500000000252613450727360017755 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Conjugate transpose of TF models. ## Author: Lukas Reichlin ## Created: May 2012 ## Version: 0.1 function sys = __ctranspose__ (sys, ct) num = sys.num; den = sys.den; if (ct) # continuous-time num = cellfun (@conj_ct, num, "uniformoutput", false); den = cellfun (@conj_ct, den, "uniformoutput", false); else # discrete-time num = cellfun (@conj_dt, num, "uniformoutput", false); den = cellfun (@conj_dt, den, "uniformoutput", false); ## TODO: shall I make "den" a monic polynomial? endif sys.num = num.'; sys.den = den.'; endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__freqresp__.m0000644000000000000000000000013213450727360017155 xustar0030 mtime=1554231024.269416414 30 atime=1554231024.269416414 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__freqresp__.m0000644000175000017500000000270313450727360017420 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Frequency response of TF models. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.5 function H = __freqresp__ (sys, w, cellflag = false) [num, den, tsam] = tfdata (sys, "vector"); if (isct (sys)) # continuous system s = i * w; else # discrete system s = exp (i * w * abs (tsam)); endif s = reshape (s, 1, 1, []); if (issiso (sys)) H = polyval (num, s) ./ polyval (den, s); else H = cellfun (@(x, y) polyval (x, s) ./ polyval (y, s), num, den, "uniformoutput", false); H = cell2mat (H); endif if (cellflag) [p, m] = size (sys); l = length (s); H = mat2cell (H, p, m, ones (1, l))(:); endif endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__sys_connect__.m0000644000000000000000000000013013450727360017653 xustar0029 mtime=1554231024.27741672 29 atime=1554231024.27741672 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__sys_connect__.m0000644000175000017500000000721513450727360020123 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{retsys} =} __sys_connect__ (@var{sys}, @var{M}) ## This function is part of the Model Abstraction Layer. No argument checking. ## For internal use only. ## @example ## @group ## Problem: Solve the system equations of ## Y(s) = G(s) E(s) ## E(s) = U(s) + M Y(s) ## in order to build ## Y(s) = H(s) U(s) ## Solution: ## Y(s) = G(s) [I - M G(s)]^-1 U(s) ## = [I - G(s) M]^-1 G(s) U(s) ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function sys = __sys_connect__ (sys, M) [p, m] = size (sys); num = sys.num; den = sys.den; ## WARNING: The code below is a cheap hack to quickly enable SISO TF connections. ## FIXME: Check for den = 0, e.g. in feedback (tf (1), tf (-1)) if (p == 2 && m == 2 && num{1,2} == 0 && num{2,1} == 0 ... && M(1,1) == 0 && M(2,2) == 0) ## mtimes, feedback sys.num(1,1) = num{1,1} * den{2,2}; sys.num(1,2) = M(1,2) * num{1,1} * num{2,2}; sys.num(2,1) = M(2,1) * num{1,1} * num{2,2}; sys.num(2,2) = num{2,2} * den{1,1}; sys.den(:) = den{1,1} * den{2,2} - M(1,2) * M(2,1) * num{1,1} * num{2,2}; elseif (p == 3 && m == 4 && num{1,3} == 0 && num{1,4} == 0 ... && num{2,1} == 0 && num{2,2} == 0 && num{2,4} == 0 ... && num{3,1} == 0 && num{3,2} == 0 && num{3,3} == 0 ... && isequal (M, [0, 1, 0; 0, 0, 1; 0, 0, 0; 0, 0, 0])) ## horzcat [sys1, sys2], plus, minus sys.num(:) = tfpoly (0); sys.den(:) = tfpoly (1); sys.num(1,1) = num{1,1}; sys.num(1,2) = num{1,2}; sys.num(1,3) = num{1,1} * num{2,3}; sys.num(1,4) = num{1,2} * num{3,4}; sys.num(2,3) = num{2,3}; sys.num(3,4) = num{3,4}; sys.den(1,3) = den{2,3}; sys.den(1,4) = den{3,4}; sys.den(2,3) = den{2,3}; sys.den(3,4) = den{3,4}; elseif (p == 3 && m == 3 && num{1,3} == 0 ... && num{2,1} == 0 && num{2,2} == 0 && num{2,3} == 1 && den{2,3} == 1 ... && num{3,1} == 0 && num{3,2} == 0 && num{3,3} == 1 && den{3,3} == 1 ... && isequal (M, [0, 1, 0; 0, 0, 1; 0, 0, 0])) ## plus, minus sys.num(1,3) = num{1,1} * den{1,2} + num{1,2} * den{1,1}; sys.den(1,3) = den{1,1} * den{1,2}; elseif (p == 4 && m == 3 && num{1,2} == 0 && num{1,3} == 0 ... && num{2,1} == 0 && num{2,3} == 0 ... && num{3,1} == 0 && num{3,2} == 0 && num{3,3} == 1 && den{3,3} == 1 ... && num{4,1} == 0 && num{4,2} == 0 && num{4,3} == 1 && den{4,3} == 1 ... && isequal (M, [0, 0, 1, 0; 0, 0, 0, 1; 0, 0, 0, 0])) ## vertcat [sys1; sys2] sys.num(1,3) = num{1,1}; sys.num(2,3) = num{2,2}; sys.den(1,3) = den{1,1}; sys.den(2,3) = den{2,2}; else ## MIMO case, convert to state-space and back. warning ("tf: converting to minimal state-space for MIMO TF interconnections"); sys = tf (__sys_connect__ (ss (sys), M)); endif endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/__zero__.m0000644000000000000000000000013213450727360016305 xustar0030 mtime=1554231024.289417178 30 atime=1554231024.289417178 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/__zero__.m0000644000175000017500000000232213450727360016545 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Transmission zeros of TF object. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function [zer, gain, info] = __zero__ (sys) if (issiso (sys)) num = get (sys.num{1}); den = get (sys.den{1}); zer = roots (num); gain = num(1) / den(1); info = []; else warning ("tf: zero: converting to minimal state-space for zero computation of mimo tf"); [zer, gain, info] = zero (ss (sys)); endif endfunction control-3.2.0/inst/@tf/PaxHeaders.3947/vertcat.m0000644000000000000000000000013213450727360016202 xustar0030 mtime=1554231024.293417331 30 atime=1554231024.293417331 30 ctime=1554231028.525576056 control-3.2.0/inst/@tf/vertcat.m0000644000175000017500000000355313450727360016451 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Vertical concatenation of @acronym{TF} objects. ## Used by Octave for "[sys1; sys2]". ## Avoids conversion to state-space and back by overriding ## the general vertcat function for @acronym{LTI} objects. ## Author: Lukas Reichlin ## Created: May 2014 ## Version: 0.1 function sys = vertcat (sys, varargin) sys = tf (sys); varargin = cellfun (@tf, varargin, "uniformoutput", false); for k = 1 : (nargin-1) sys1 = sys; sys2 = varargin{k}; sys = tf (); sys.lti = __lti_group__ (sys1.lti, sys2.lti, "vertcat"); [p1, m1] = size (sys1.num); [p2, m2] = size (sys2.num); if (m1 != m2) error ("tf: vertcat: number of system inputs incompatible: [(%dx%d); (%dx%d)]", p1, m1, p2, m2); endif sys.num = [sys1.num; sys2.num]; sys.den = [sys1.den; sys2.den]; if (strcmp (sys1.tfvar, sys2.tfvar)) sys.tfvar = sys1.tfvar; elseif (strcmp (sys1.tfvar, "x")) sys.tfvar = sys2.tfvar; else sys.tfvar = sys1.tfvar; endif if (sys1.inv || sys2.inv) sys.inv = true; endif endfor endfunction control-3.2.0/inst/PaxHeaders.3947/h2syn.m0000644000000000000000000000013213450727360015064 xustar0030 mtime=1554231024.493424967 30 atime=1554231024.489424814 30 ctime=1554231028.525576056 control-3.2.0/inst/h2syn.m0000644000175000017500000002032213450727360015324 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{info}] =} h2syn (@var{P}, @var{nmeas}, @var{ncon}) ## @deftypefnx{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{info}] =} h2syn (@var{P}) ## H-2 control synthesis for @acronym{LTI} plant. ## ## @strong{Inputs} ## @table @var ## @item P ## Generalized plant. Must be a proper/realizable @acronym{LTI} model. ## If @var{P} is constructed with @command{mktito} or @command{augw}, ## arguments @var{nmeas} and @var{ncon} can be omitted. ## @item nmeas ## Number of measured outputs v. The last @var{nmeas} outputs of @var{P} are connected to the ## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used ## to calculate the H-2 norm. ## @item ncon ## Number of controlled inputs u. The last @var{ncon} inputs of @var{P} are connected to the ## outputs of controller @var{K}. The remaining inputs w (indices 1 to m-ncon) are excited ## by a harmonic test signal. ## @end table ## ## @strong{Outputs} ## @table @var ## @item K ## State-space model of the H-2 optimal controller. ## @item N ## State-space model of the lower LFT of @var{P} and @var{K}. ## @item info ## Structure containing additional information. ## @item info.gamma ## H-2 norm of @var{N}. ## @item info.rcond ## Vector @var{rcond} contains estimates of the reciprocal condition ## numbers of the matrices which are to be inverted and ## estimates of the reciprocal condition numbers of the ## Riccati equations which have to be solved during the ## computation of the controller @var{K}. For details, ## see the description of the corresponding SLICOT routine. ## @end table ## ## @strong{Block Diagram} ## @example ## @group ## ## gamma = min||N(K)|| N = lft (P, K) ## K 2 ## ## +--------+ ## w ----->| |-----> z ## | P(s) | ## u +---->| |-----+ v ## | +--------+ | ## | | ## | +--------+ | ## +-----| K(s) |<----+ ## +--------+ ## ## +--------+ ## w ----->| N(s) |-----> z ## +--------+ ## @end group ## @end example ## ## @strong{Algorithm}@* ## Uses SLICOT SB10HD and SB10ED by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @seealso{augw, lqr, dlqr, kalman} ## @end deftypefn ## Author: Lukas Reichlin ## Created: December 2009 ## Version: 0.3 function [K, varargout] = h2syn (P, nmeas, ncon) ## check input arguments if (nargin != 1 && nargin != 3) print_usage (); endif if (! isa (P, "lti")) error ("h2syn: first argument must be an LTI system"); endif if (nargin == 1) [nmeas, ncon] = __tito_dim__ (P, "h2syn"); endif if (! is_real_scalar (nmeas)) error ("h2syn: second argument 'nmeas' invalid"); endif if (! is_real_scalar (ncon)) error ("h2syn: third argument 'ncon' invalid"); endif [a, b, c, d, tsam] = ssdata (P); ## check assumptions A1 - A3 m = columns (b); p = rows (c); m1 = m - ncon; p1 = p - nmeas; d11 = d(1:p1, 1:m1); if (isct (P) && any (d11(:))) warning ("h2syn: setting matrice D11 to zero"); d(1:p1, 1:m1) = 0; endif if (! isstabilizable (P(:, m1+1:m))) error ("h2syn: (A, B2) must be stabilizable"); endif if (! isdetectable (P(p1+1:p, :))) error ("h2syn: (C2, A) must be detectable"); endif ## H-2 synthesis if (isct (P)) # continuous plant [ak, bk, ck, dk, rcond] = __sl_sb10hd__ (a, b, c, d, ncon, nmeas); else # discrete plant [ak, bk, ck, dk, rcond] = __sl_sb10ed__ (a, b, c, d, ncon, nmeas); endif ## controller K = ss (ak, bk, ck, dk, tsam); if (nargout > 1) N = lft (P, K); varargout{1} = N; if (nargout > 2) gamma = norm (N, 2); varargout{2} = gamma; if (nargout > 3) varargout{3} = struct ("gamma", gamma, "rcond", rcond); endif endif endif endfunction ## continuous-time case %!shared M, M_exp %! A = [-1.0 0.0 4.0 5.0 -3.0 -2.0 %! -2.0 4.0 -7.0 -2.0 0.0 3.0 %! -6.0 9.0 -5.0 0.0 2.0 -1.0 %! -8.0 4.0 7.0 -1.0 -3.0 0.0 %! 2.0 5.0 8.0 -9.0 1.0 -4.0 %! 3.0 -5.0 8.0 0.0 2.0 -6.0]; %! %! B = [-3.0 -4.0 -2.0 1.0 0.0 %! 2.0 0.0 1.0 -5.0 2.0 %! -5.0 -7.0 0.0 7.0 -2.0 %! 4.0 -6.0 1.0 1.0 -2.0 %! -3.0 9.0 -8.0 0.0 5.0 %! 1.0 -2.0 3.0 -6.0 -2.0]; %! %! C = [ 1.0 -1.0 2.0 -4.0 0.0 -3.0 %! -3.0 0.0 5.0 -1.0 1.0 1.0 %! -7.0 5.0 0.0 -8.0 2.0 -2.0 %! 9.0 -3.0 4.0 0.0 3.0 7.0 %! 0.0 1.0 -2.0 1.0 -6.0 -2.0]; %! %! D = [ 0.0 0.0 0.0 -4.0 -1.0 %! 0.0 0.0 0.0 1.0 0.0 %! 0.0 0.0 0.0 0.0 1.0 %! 3.0 1.0 0.0 1.0 -3.0 %! -2.0 0.0 1.0 7.0 1.0]; %! %! P = ss (A, B, C, D); %! K = h2syn (P, 2, 2); %! M = [K.A, K.B; K.C, K.D]; %! %! KA = [ 88.0015 -145.7298 -46.2424 82.2168 -45.2996 -31.1407 %! 25.7489 -31.4642 -12.4198 9.4625 -3.5182 2.7056 %! 54.3008 -102.4013 -41.4968 50.8412 -20.1286 -26.7191 %! 108.1006 -198.0785 -45.4333 70.3962 -25.8591 -37.2741 %! -115.8900 226.1843 47.2549 -47.8435 -12.5004 34.7474 %! 59.0362 -101.8471 -20.1052 36.7834 -16.1063 -26.4309]; %! %! KB = [ 3.7345 3.4758 %! -0.3020 0.6530 %! 3.4735 4.0499 %! 4.3198 7.2755 %! -3.9424 -10.5942 %! 2.1784 2.5048]; %! %! KC = [ -2.3346 3.2556 0.7150 -0.9724 0.6962 0.4074 %! 7.6899 -8.4558 -2.9642 7.0365 -4.2844 0.1390]; %! %! KD = [ 0.0000 0.0000 %! 0.0000 0.0000]; %! %! M_exp = [KA, KB; KC, KD]; %! %!assert (M, M_exp, 1e-4); ## discrete-time case %!shared M, M_exp %! A = [-0.7 0.0 0.3 0.0 -0.5 -0.1 %! -0.6 0.2 -0.4 -0.3 0.0 0.0 %! -0.5 0.7 -0.1 0.0 0.0 -0.8 %! -0.7 0.0 0.0 -0.5 -1.0 0.0 %! 0.0 0.3 0.6 -0.9 0.1 -0.4 %! 0.5 -0.8 0.0 0.0 0.2 -0.9]; %! %! B = [-1.0 -2.0 -2.0 1.0 0.0 %! 1.0 0.0 1.0 -2.0 1.0 %! -3.0 -4.0 0.0 2.0 -2.0 %! 1.0 -2.0 1.0 0.0 -1.0 %! 0.0 1.0 -2.0 0.0 3.0 %! 1.0 0.0 3.0 -1.0 -2.0]; %! %! C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 %! -3.0 0.0 1.0 -1.0 1.0 0.0 %! 0.0 2.0 0.0 -4.0 0.0 -2.0 %! 1.0 -3.0 0.0 0.0 3.0 1.0 %! 0.0 1.0 -2.0 1.0 0.0 -2.0]; %! %! D = [ 1.0 -1.0 -2.0 0.0 0.0 %! 0.0 1.0 0.0 1.0 0.0 %! 2.0 -1.0 -3.0 0.0 1.0 %! 0.0 1.0 0.0 1.0 -1.0 %! 0.0 0.0 1.0 2.0 1.0]; %! %! P = ss (A, B, C, D, 1); # value of sampling time doesn't matter %! K = h2syn (P, 2, 2); %! M = [K.A, K.B; K.C, K.D]; %! %! KA = [-0.0551 -2.1891 -0.6607 -0.2532 0.6674 -1.0044 %! -1.0379 2.3804 0.5031 0.3960 -0.6605 1.2673 %! -0.0876 -2.1320 -0.4701 -1.1461 1.2927 -1.5116 %! -0.1358 -2.1237 -0.9560 -0.7144 0.6673 -0.7957 %! 0.4900 0.0895 0.2634 -0.2354 0.1623 -0.2663 %! 0.1672 -0.4163 0.2871 -0.1983 0.4944 -0.6967]; %! %! KB = [-0.5985 -0.5464 %! 0.5285 0.6087 %! -0.7600 -0.4472 %! -0.7288 -0.6090 %! 0.0532 0.0658 %! -0.0663 0.0059]; %! %! KC = [ 0.2500 -1.0200 -0.3371 -0.2733 0.2747 -0.4444 %! 0.0654 0.2095 0.0632 0.2089 -0.1895 0.1834]; %! %! KD = [-0.2181 -0.2070 %! 0.1094 0.1159]; %! %! M_exp = [KA, KB; KC, KD]; %! %!assert (M, M_exp, 1e-4); control-3.2.0/inst/PaxHeaders.3947/damp.m0000644000000000000000000000013213450727360014742 xustar0030 mtime=1554231024.457423593 30 atime=1554231024.453423439 30 ctime=1554231028.525576056 control-3.2.0/inst/damp.m0000644000175000017500000001561013450727360015206 0ustar00olafolaf00000000000000## Copyright (C) 2017 Mark Bronsfeld ## ## This program is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## This program is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} damp(@var{sys}) ## @deftypefnx {Function File} {[@var{Wn}, @var{zeta}] =} damp(@var{sys}) ## @deftypefnx {Function File} {[@var{Wn}, @var{zeta}, @var{P}] =} damp(@var{sys}) ## Calculate natural frequencies, damping ratios and poles. ## ## If no output is specified, display overview table containing poles, ## magnitude (if @var{sys} is a discrete-time model), damping ratios, natural ## frequencies and time constants. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @end table ## ## @strong{Outputs} ## @table @var ## @item Wn ## Natural frequencies of each pole of @var{sys} (in increasing order). ## The frequency unit is rad/s (radians per second). ## If @var{sys} is a discrete-time model with specified sample time, @var{Wn} ## contains the natural frequencies of the equivalent continuous-time poles ## (see Algorithms). If @var{sys} has an unspecified sample time ## (@var{tsam =} -1), @var{tsam =} 1 is used to calculate @var{Wn}. ## @item zeta ## Damping ratios of each pole of @var{sys} (in the same order as @var{Wn}). ## If @var{sys} is a discrete-time model with specified sample time, ## @var{zeta} contains the damping ratios of the equivalent continuous-time ## poles (see Algorithms). If @var{sys} has an unspecified sample time ## (@var{tsam =} -1), @var{tsam =} 1 is used to calculate @var{zeta}. ## @item P ## Poles of @var{sys} (in the same order as @var{Wn}). ## @end table ## ## @strong{Algorithm}@* ## @table @var ## @item Pole ## Poles s (or z for discrete-time models) are calculated via @command{pole} ## and resorted in order of increasing natural frequency. ## @item Equivalent continuous-time pole ## s = log (z) / sys.tsam (discrete-time models only) ## @item Magnitude ## mag = abs (z) (discrete-time models only) ## @item Natural Frequency ## Wn = abs (s) ## @item Damping ratio ## zeta = -cos (arg (s)) ## @item Time constant ## tau = 1 / (Wn * zeta) ## @end table ## ## @seealso{dsort, eig, esort, pole, pzmap, zero} ## @end deftypefn ## Author: Mark Bronsfeld ## Created: January 2017 ## Version: 0.1 function [Wn_out, zeta, P] = damp (sys) if (nargin == 1) # damp (sys) if (! (isa (sys, "lti") || issquare (sys))) error ("damp: argument must be an LTI system"); endif else print_usage (); endif P = pole (sys); # Poles ## Distinguish between system/state matrices, continuous- and ... ## discrete-time models if ((! (isa (sys, "lti")) && issquare (sys)) || (isct (sys))) s = P; elseif (isdt (sys)) if (sys.tsam == -1) # If sample time is unspecified... s = log (P); # ...assume 1 second: log (P) / 1 else s = log (P) ./ sys.tsam; endif mag = abs (P); # Magnitude endif Wn = abs (s); # Frequencies (rad / seconds) ## Sort all vectors in order of increasing natural frequency [Wn, ndx] = sort (Wn); P = P (ndx); s = s (ndx); zeta = -cos (arg (s)); # Damping tau = 1 ./ (Wn .* zeta); # Time constant (seconds) ## Suppress "ans" output if no output specified (only assign "Wn_out" ... ## if any output specified) if (nargout > 0) Wn_out = Wn; ## Display overview table when no output specified elseif (nargout == 0) ## Type conversion and formatting to exponential format P = num2str (P, '%1.2e'); zeta = num2str (zeta, '%1.2e'); Wn = num2str (Wn, '%1.2e'); tau = num2str (tau, '%1.2e'); ## Construct columns of overview table Pole = [['Pole'; ' '; ' ']; P]; Damping = [['Damping'; ' '; ' ']; zeta]; Frequency = [['Frequency'; '(rad/seconds)'; ' ']; Wn]; TimeConstant = [['Time Constant'; '(seconds)'; ' ']; tau]; ## Construct overview table - distinguish between system/state ... ## matrices, continuous- and discrete-time models if ((! (isa (sys, "lti")) && issquare (sys)) || (isct (sys))) ## Overview table overview_table = [repmat(' ',rows(Pole),3) Pole ... repmat(' ',rows(Pole),4) Damping ... repmat(' ',rows(Pole),4) Frequency ... repmat(' ',rows(Pole),4) TimeConstant]; elseif (isdt (sys)) mag = mag (ndx); # Sort vector in order of increasing natural frequency mag = num2str (mag, '%1.2e'); # Type conversion and formatting to ... # exponential format Magnitude = [['Magnitude'; ' '; ' ']; mag]; # Construct additional ... # column of overview table ## Overview table overview_table = [repmat(' ',rows(Pole),3) Pole ... repmat(' ',rows(Pole),4) Magnitude ... repmat(' ',rows(Pole),4) Damping .... repmat(' ',rows(Pole),4) Frequency .... repmat(' ',rows(Pole),4) TimeConstant]; endif disp (overview_table); # Display overview table endif endfunction ## Test system/state matrix %!test %! A = [-1, 0, 0; %! 0, -2, 0; %! 0, 0, -3 ]; %! %! Wn_exp = [1; %! 2; %! 3 ]; %! %! zeta_exp = [1; %! 1; %! 1 ]; %! %! P_exp = [-1; %! -2; %! -3 ]; %! %! [Wn_obs, zeta_obs, P_obs] = damp (ss (A, ones (3, 1))); %! %! assert (Wn_obs, Wn_exp, 0); %! assert (zeta_obs, zeta_exp, 0); %! assert (P_obs, P_exp, 0); ## Test continuous-time model %!test %! H = tf ([2, 5, 1], [1, 2, 3]); %! %! Wn_exp = [1.7321; %! 1.7321 ]; %! %! zeta_exp = [0.5774; %! 0.5774 ]; %! %! P_exp = [-1.0000 + 1.4142i; %! -1.0000 - 1.4142i ]; %! %! [Wn_obs, zeta_obs, P_obs] = damp (H); %! %! assert (Wn_obs, Wn_exp, 1e-4); %! assert (zeta_obs, zeta_exp, 1e-4); %! assert (P_obs, P_exp, 1e-4); ## Test discrete-time model %!test %! H = tf ([5, 3, 1], [1, 6, 4, 4], 0.01); %! %! Wn_exp = [193.4924; %! 193.4924; %! 356.5264 ]; %! %! zeta_exp = [ 0.0774; %! 0.0774; %! -0.4728 ]; %! %! P_exp = [-0.3020 + 0.8063i; %! -0.3020 - 0.8063i; %! -5.3961 + 0.0000i ]; %! %! [Wn_obs, zeta_obs, P_obs] = damp (H); %! %! assert (Wn_obs, Wn_exp, 1e-4); %! assert (zeta_obs, zeta_exp, 1e-4); %! assert (P_obs, P_exp, 1e-4); control-3.2.0/inst/PaxHeaders.3947/MDSSystem.m0000644000000000000000000000012613450727360015654 xustar0028 mtime=1554231024.3214184 28 atime=1554231024.3214184 30 ctime=1554231028.525576056 control-3.2.0/inst/MDSSystem.m0000644000175000017500000001311513450727360016113 0ustar00olafolaf00000000000000%% -*- texinfo -*- %% Robust control of a mass-damper-spring system. ## %% Type @code{which MDSSystem} to locate, ## %% @code{edit MDSSystem} to open and simply ## %% @code{MDSSystem} to run the example file. % =============================================================================== % Robust Control of a Mass-Damper-Spring System Lukas Reichlin August 2011 % =============================================================================== % Reference: Gu, D.W., Petkov, P.Hr. and Konstantinov, M.M. % Robust Control Design with Matlab, Springer 2005 % =============================================================================== % Tabula Rasa clear all, close all, clc % =============================================================================== % System Model % =============================================================================== % +---------------+ % | d_m 0 0 | % +-----| 0 d_c 0 |<----+ % u_m | | 0 0 d_k | | y_m % u_c | +---------------+ | y_c % u_k | | y_k % | +---------------+ | % +---->| |-----+ % | G_nom | % u ----->| |-----> y % +---------------+ % Nominal Values m_nom = 3; % mass c_nom = 1; % damping coefficient k_nom = 2; % spring stiffness % Perturbations p_m = 0.4; % 40% uncertainty in the mass p_c = 0.2; % 20% uncertainty in the damping coefficient p_k = 0.3; % 30% uncertainty in the spring stiffness % State-Space Representation A = [ 0, 1 -k_nom/m_nom, -c_nom/m_nom ]; B1 = [ 0, 0, 0 -p_m, -p_c/m_nom, -p_k/m_nom ]; B2 = [ 0 1/m_nom ]; C1 = [ -k_nom/m_nom, -c_nom/m_nom 0, c_nom k_nom, 0 ]; C2 = [ 1, 0 ]; D11 = [ -p_m, -p_c/m_nom, -p_k/m_nom 0, 0, 0 0, 0, 0 ]; D12 = [ 1/m_nom 0 0 ]; D21 = [ 0, 0, 0 ]; D22 = [ 0 ]; inname = {'u_m', 'u_c', 'u_k', 'u'}; % input names outname = {'y_m', 'y_c', 'y_k', 'y'}; % output names G_nom = ss (A, [B1, B2], [C1; C2], [D11, D12; D21, D22], ... 'inputname', inname, 'outputname', outname); G = G_nom('y', 'u'); % extract output y and input u % =============================================================================== % Frequency Analysis of Uncertain System % =============================================================================== % Uncertainties: -1 <= delta_m, delta_c, delta_k <= 1 [delta_m, delta_c, delta_k] = ndgrid ([-1, 0, 1], [-1, 0, 1], [-1, 0, 1]); % Bode Plots of Perturbed Plants w = logspace (-1, 1, 100); % frequency vector Delta = arrayfun (@(m, c, k) diag ([m, c, k]), delta_m(:), delta_c(:), delta_k(:), 'uniformoutput', false); G_per = cellfun (@lft, Delta, {G_nom}, 'uniformoutput', false); figure (1) bode (G_per{:}, w) legend off % =============================================================================== % Mixed Sensitivity H-infinity Controller Design (S over KS Method) % =============================================================================== % +-------+ % +--------------------->| W_p |----------> e_p % | +-------+ % | +-------+ % | +---->| W_u |----------> e_u % | | +-------+ % | | +---------+ % | | ->| |-> % r + e | +-------+ u | | G_nom | % ----->(+)---+-->| K |----+--->| |----+----> y % ^ - +-------+ +---------+ | % | | % +-----------------------------------------+ % Weighting Functions s = tf ('s'); % transfer function variable W_p = 0.95 * (s^2 + 1.8*s + 10) / (s^2 + 8.0*s + 0.01); % performance weighting W_u = 10^-2; % control weighting % Synthesis K_mix = mixsyn (G, W_p, W_u); % mixed-sensitivity H-infinity synthesis % Interconnections L_mix = G * K_mix; % open loop T_mix = feedback (L_mix); % closed loop % =============================================================================== % H-infinity Loop-Shaping Design (Normalized Coprime Factor Perturbations) % =============================================================================== % Settings W1 = 8 * (2*s + 1) / (0.9*s); % precompensator W2 = 1; % postcompensator factor = 1.1; % suboptimal controller % Synthesis K_ncf = ncfsyn (G, W1, W2, factor); % positive feedback controller % Interconnections K_ncf = -K_ncf; % negative feedback controller L_ncf = G * K_ncf; % open loop T_ncf = feedback (L_ncf); % closed loop % =============================================================================== % Plot Results % =============================================================================== % Bode Plot figure (2) bode (K_mix, K_ncf) % Step Response figure (3) step (T_mix, T_ncf, 10) % step response for 10 seconds % =============================================================================== control-3.2.0/inst/PaxHeaders.3947/BMWengine.m0000644000000000000000000000012613450727360015637 xustar0028 mtime=1554231024.3214184 28 atime=1554231024.3214184 30 ctime=1554231028.525576056 control-3.2.0/inst/BMWengine.m0000644000175000017500000000672113450727360016103 0ustar00olafolaf00000000000000## -*- texinfo -*- ## @deftypefn{Function File} {@var{sys} =} BMWengine () ## @deftypefnx{Function File} {@var{sys} =} BMWengine (@var{"scaled"}) ## @deftypefnx{Function File} {@var{sys} =} BMWengine (@var{"unscaled"}) ## Model of the BMW 4-cylinder engine at ETH Zurich's control laboratory. ## @example ## @group ## OPERATING POINT ## Drosselklappenstellung alpha_DK = 10.3 Grad ## Saugrohrdruck p_s = 0.48 bar ## Motordrehzahl n = 860 U/min ## Lambda-Messwert lambda = 1.000 ## Relativer Wandfilminhalt nu = 1 ## @end group ## @end example ## @example ## @group ## INPUTS ## U_1 Sollsignal Drosselklappenstellung [Grad] ## U_2 Relative Einspritzmenge [-] ## U_3 Zuendzeitpunkt [Grad KW] ## M_L Lastdrehmoment [Nm] ## @end group ## @end example ## @example ## @group ## STATES ## X_1 Drosselklappenstellung [Grad] ## X_2 Saugrohrdruck [bar] ## X_3 Motordrehzahl [U/min] ## X_4 Messwert Lamba-Sonde [-] ## X_5 Relativer Wandfilminhalt [-] ## @end group ## @end example ## @example ## @group ## OUTPUTS ## Y_1 Motordrehzahl [U/min] ## Y_2 Messwert Lambda-Sonde [-] ## @end group ## @end example ## @example ## @group ## SCALING ## U_1N, X_1N 1 Grad ## U_2N, X_4N, X_5N, Y_2N 0.05 ## U_3N 1.6 Grad KW ## X_2N 0.05 bar ## X_3N, Y_1N 200 U/min ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: January 2010 ## Version: 0.1.1 ## TODO: translate German terminology function sys = BMWengine (flg = "scaled") if (nargin > 1) print_usage (); endif switch (tolower (flg)) case "unscaled" ## Linearisiertes Modell, nicht skaliert Apu = [ -40.0000 0 0 0 0 0.1683 -2.9471 -0.0016 0 0 26.6088 920.3932 -0.1756 0 259.1700 -0.5852 14.1941 0.0061 -5.7000 -5.7000 0.6600 -1.1732 -0.0052 0 -15.0000 ]; Bpu = [ 40.0000 0 0 0 0 0 0 181.4190 1.5646 0 -3.9900 0 0 4.5000 0 ]; Bdpu = [ 0 0 -15.9000 0 0 ]; Cpu = [ 0 0 1 0 0 0 0 0 1 0 ]; sys = ss (Apu, [Bpu, Bdpu], Cpu); case "scaled" ## Skaliertes Zustandsraummodell Ap = [ -40.0000 0 0 0 0 3.3659 -2.9471 -6.5157 0 0 0.1330 0.2301 -0.1756 0 0.0648 -11.7043 14.1941 24.3930 -5.7000 -5.7000 13.2003 -1.1732 -20.9844 0 -15.0000 ]; Bp = [ 40.0000 0 0 0 0 0 0 0.0454 0.0125 0 -3.9900 0 0 4.5000 0 ]; Bdp = [ 0 0 -1.5900 0 0 ]; Cp = [ 0 0 1 0 0 0 0 0 1 0 ]; sys = ss (Ap, [Bp, Bdp], Cp, [], "scaled", true); otherwise print_usage (); endswitch endfunction control-3.2.0/inst/PaxHeaders.3947/tfpoly2str.m0000644000000000000000000000013213450727360016151 xustar0030 mtime=1554231024.593428785 30 atime=1554231024.593428785 30 ctime=1554231028.525576056 control-3.2.0/inst/tfpoly2str.m0000644000175000017500000000507413450727360016420 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{str} =} tfpoly2str (@var{p}) ## @deftypefnx {Function File} {@var{str} =} tfpoly2str (@var{p}, @var{tfvar}) ## Return the string of polynomial vector @var{p} with string @var{tfvar^-1} ## as variable. Note that there is an almost identical function for the ## @command{tfpoly} class which returns a string with @var{tfvar} ## (not @var{tfvar^-1}) as variable. ## @end deftypefn ## Author: Lukas Reichlin ## Created: May 2012 ## Version: 0.1 function str = tfpoly2str (p, tfvar = "x") ## TODO: simplify this ugly code str = ""; lp = numel (p); if (lp > 0) # first element (lowest order) idx = find (p); # first non-zero element if (isempty (idx)) str = "0"; return; else idx = idx(1); endif a = p(idx); if (a < 0) cs = "-"; else cs = ""; endif if (idx == 1) str = [cs, num2str(abs (a), 4)]; else if (abs (a) == 1) str = [cs, __variable__(tfvar, idx-1)]; else str = [cs, __coefficient__(a), " ", __variable__(tfvar, idx-1)]; endif endif if (lp > idx) # remaining elements of higher order for k = idx+1 : lp a = p(k); if (a != 0) if (a < 0) cs = " - "; else cs = " + "; endif if (abs (a) == 1) str = [str, cs, __variable__(tfvar, k-1)]; else str = [str, cs, __coefficient__(a), " ", __variable__(tfvar, k-1)]; endif endif endfor endif endif endfunction function str = __coefficient__ (a) b = abs (a); if (b == 1) str = ""; else str = num2str (b, 4); endif endfunction function str = __variable__ (tfvar, n) str = [tfvar, "^-", num2str(n)]; endfunction control-3.2.0/inst/PaxHeaders.3947/__modred_check_order__.m0000644000000000000000000000013213450727360020417 xustar0030 mtime=1554231024.389420996 30 atime=1554231024.389420996 30 ctime=1554231028.525576056 control-3.2.0/inst/__modred_check_order__.m0000644000175000017500000000233313450727360020661 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## check order for model reduction commands ## Author: Lukas Reichlin ## Created: November 2011 ## Version: 0.1 function [nr, ordsel] = __modred_check_order__ (nr, n) if (! issample (nr, 0) || nr != round (nr)) error ("modred: order of reduced model must be an integer >= 0"); endif if (nr > n) error ("modred: order of reduced model (%d) can't be larger than the original one (%d)", ... nr, n); endif ordsel = 0; endfunction control-3.2.0/inst/PaxHeaders.3947/repsys.m0000644000000000000000000000013213450727360015346 xustar0030 mtime=1554231024.577428174 30 atime=1554231024.577428174 30 ctime=1554231028.525576056 control-3.2.0/inst/repsys.m0000644000175000017500000000275713450727360015622 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{rsys} =} repsys (@var{sys}, @var{m}, @var{n}) ## @deftypefnx {Function File} {@var{rsys} =} repsys (@var{sys}, [@var{m}, @var{n}]) ## @deftypefnx {Function File} {@var{rsys} =} repsys (@var{sys}, @var{m}) ## Form a block transfer matrix of @var{sys} with @var{m} copies vertically ## and @var{n} copies horizontally. If @var{n} is not specified, it is set to @var{m}. ## @code{repsys (sys, 2, 3)} is equivalent to @code{[sys, sys, sys; sys, sys, sys]}. ## @end deftypefn ## Author: Lukas Reichlin ## Created: May 2014 ## Version: 0.1 function sys = repsys (varargin) if (nargin == 0) print_usage (); endif sys = repmat (varargin{:}); # repmat is overloaded for LTI systems endfunction control-3.2.0/inst/PaxHeaders.3947/obsv.m0000644000000000000000000000013213450727360014772 xustar0030 mtime=1554231024.561427563 30 atime=1554231024.561427563 30 ctime=1554231028.525576056 control-3.2.0/inst/obsv.m0000644000175000017500000000416713450727360015243 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## Copyright (C) 2009 Luca Favatella ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{ob} =} obsv (@var{sys}) ## @deftypefnx {Function File} {@var{ob} =} obsv (@var{a}, @var{c}) ## Return observability matrix. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @item a ## State matrix (n-by-n). ## @item c ## Measurement matrix (p-by-n). ## @end table ## ## @strong{Outputs} ## @table @var ## @item ob ## Observability matrix. ## @end table ## ## @strong{Equation} ## @iftex ## @tex ## $$ O_b = \\left[ \\matrix{ C \\cr ## CA \\cr ## CA^2 \\cr ## \\vdots \\cr ## CA^{n-1} } \\right ] $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## @group ## | C | ## | CA | ## Ob = | CA^2 | ## | ... | ## | CA^(n-1) | ## @end group ## @end example ## @end ifnottex ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.2 function ob = obsv (a, c) if (nargin == 1) # obsv (sys) ob = ctrb (a.').'; # transpose is overloaded for lti models elseif (nargin == 2) # obsv (a, c) ob = ctrb (a.', c.').'; # size checked inside else print_usage (); endif endfunction %!assert (obsv ([1, 0; 0, -0.5], [8, 8]), [8, 8; 8, -4]); control-3.2.0/inst/PaxHeaders.3947/__conred_check_feedback_sign__.m0000644000000000000000000000013213450727360022050 xustar0030 mtime=1554231024.345419316 30 atime=1554231024.345419316 30 ctime=1554231028.525576056 control-3.2.0/inst/__conred_check_feedback_sign__.m0000644000175000017500000000231713450727360022314 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## check the feedback sign. ## Author: Lukas Reichlin ## Created: December 2011 ## Version: 0.1 function negfb = __conred_check_feedback_sign__ (fbsign, key = "feedback") if (! ischar (fbsign)) error ("conred: key '%s' requires string value", key); endif switch (fbsign) case "+" negfb = false; case "-" negfb = true; otherwise error ("conred: key '%s' has an invalid value", key); endswitch endfunction control-3.2.0/inst/PaxHeaders.3947/pidstd.m0000644000000000000000000000013213450727360015310 xustar0030 mtime=1554231024.573428021 30 atime=1554231024.569427868 30 ctime=1554231028.525576056 control-3.2.0/inst/pidstd.m0000644000175000017500000000470713450727360015561 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{C} =} pidstd (@var{Kp}) ## @deftypefnx{Function File} {@var{C} =} pidstd (@var{Kp}, @var{Ti}) ## @deftypefnx{Function File} {@var{C} =} pidstd (@var{Kp}, @var{Ti}, @var{Td}) ## @deftypefnx{Function File} {@var{C} =} pidstd (@var{Kp}, @var{Ti}, @var{Td}, @var{N}) ## Return the transfer function @var{C} of the @acronym{PID} controller ## in standard form with first-order roll-off. ## ## @example ## @group ## 1 Td s ## C(s) = Kp (1 + ---- + ----------) ## Ti s Td/N s + 1 ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2015 ## Version: 0.1 ## TODO: discrete-time case, dozens of options, ... ## NOTE: I don't see any need to implement 'pid' and 'pidstd' ## as LTI classes like the 'dark side' does. ## Returning a transfer function seems to be sufficient. ## These functions' sole purpose is to help novice users ## running their scripts with as little changes as possible. function C = pidstd (Kp = 1, Ti = inf, Td = 0, N = inf) if (! is_real_scalar (Kp, Ti, Td, N) || nargin > 4) print_usage (); endif if (Kp == 0) # pidstd (0) C = tf (0); elseif (Ti == inf && N == inf) # pidstd (Kp, inf, Td) C = tf (Kp*[Td, 1], [1]); elseif (Ti == inf) # pidstd (Kp, inf, Td, N) C = tf (Kp*[N*Td+Td, N], [Td, N]); elseif (N == inf) # pidstd (Kp, Ti, Td), pidstd (Kp, Ti) C = tf (Kp*[Td*Ti, Ti, 1], [Ti, 0]); else # pidstd (Kp, Ti, Td, N) C = tf (Kp*[N*Td*Ti+Td*Ti, N*Ti+Td, N], [Td*Ti, N*Ti, 0]); endif endfunction control-3.2.0/inst/PaxHeaders.3947/initial.m0000644000000000000000000000013213450727360015452 xustar0030 mtime=1554231024.521426036 30 atime=1554231024.521426036 30 ctime=1554231028.525576056 control-3.2.0/inst/initial.m0000644000175000017500000001177113450727360015722 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {} initial (@var{sys}, @var{x0}) ## @deftypefnx{Function File} {} initial (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{x0}) ## @deftypefnx{Function File} {} initial (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'}, @var{x0}) ## @deftypefnx{Function File} {} initial (@var{sys1}, @dots{}, @var{x0}, @var{t}) ## @deftypefnx{Function File} {} initial (@var{sys1}, @dots{}, @var{x0}, @var{tfinal}) ## @deftypefnx{Function File} {} initial (@var{sys1}, @dots{}, @var{x0}, @var{tfinal}, @var{dt}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} initial (@var{sys}, @var{x0}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} initial (@var{sys}, @var{x0}, @var{t}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} initial (@var{sys}, @var{x0}, @var{tfinal}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} initial (@var{sys}, @var{x0}, @var{tfinal}, @var{dt}) ## Initial condition response of state-space model. ## If no output arguments are given, the response is printed on the screen. ## ## @strong{Inputs} ## @table @var ## @item sys ## State-space model. ## @item x0 ## Vector of initial conditions for each state. ## @item t ## Optional time vector. Should be evenly spaced. If not specified, it is calculated ## by the poles of the system to reflect adequately the response transients. ## @item tfinal ## Optional simulation horizon. If not specified, it is calculated by ## the poles of the system to reflect adequately the response transients. ## @item dt ## Optional sampling time. Be sure to choose it small enough to capture transient ## phenomena. If not specified, it is calculated by the poles of the system. ## @item 'style' ## Line style and color, e.g. 'r' for a solid red line or '-.k' for a dash-dotted ## black line. See @command{help plot} for details. ## @end table ## ## @strong{Outputs} ## @table @var ## @item y ## Output response array. Has as many rows as time samples (length of t) ## and as many columns as outputs. ## @item t ## Time row vector. ## @item x ## State trajectories array. Has @code{length (t)} rows and as many columns as states. ## @end table ## ## @strong{Example} ## @example ## @group ## . ## Continuous Time: x = A x , y = C x , x(0) = x0 ## ## Discrete Time: x[k+1] = A x[k] , y[k] = C x[k] , x[0] = x0 ## @end group ## @end example ## ## @seealso{impulse, lsim, step} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 1.0 function [y_r, t_r, x_r] = initial (varargin) if (nargin < 2) print_usage (); endif [y, t, x] = __time_response__ ("initial", varargin, nargout); if (nargout) y_r = y{1}; t_r = t{1}; x_r = x{1}; endif endfunction %!shared initial_c, initial_c_exp, initial_d, initial_d_exp %! %! A = [ -2.8 2.0 -1.8 %! -2.4 -2.0 0.8 %! 1.1 1.7 -1.0 ]; %! %! B = [ -0.8 0.5 0 %! 0 0.7 2.3 %! -0.3 -0.1 0.5 ]; %! %! C = [ -0.1 0 -0.3 %! 0.9 0.5 1.2 %! 0.1 -0.1 1.9 ]; %! %! D = [ -0.5 0 0 %! 0.1 0 0.3 %! -0.8 0 0 ]; %! %! x_0 = [1, 2, 3]; %! %! sysc = ss (A, B, C, D); %! %! [yc, tc, xc] = initial (sysc, x_0, 0.2, 0.1); %! initial_c = [yc, tc, xc]; %! %! sysd = c2d (sysc, 2); %! %! [yd, td, xd] = initial (sysd, x_0, 4); %! initial_d = [yd, td, xd]; %! %! ## expected values computed by the "dark side" %! %! yc_exp = [ -1.0000 5.5000 5.6000 %! -0.9872 5.0898 5.7671 %! -0.9536 4.6931 5.7598 ]; %! %! tc_exp = [ 0.0000 %! 0.1000 %! 0.2000 ]; %! %! xc_exp = [ 1.0000 2.0000 3.0000 %! 0.5937 1.6879 3.0929 %! 0.2390 1.5187 3.0988 ]; %! %! initial_c_exp = [yc_exp, tc_exp, xc_exp]; %! %! yd_exp = [ -1.0000 5.5000 5.6000 %! -0.6550 3.1673 4.2228 %! -0.5421 2.6186 3.4968 ]; %! %! td_exp = [ 0 %! 2 %! 4 ]; %! %! xd_exp = [ 1.0000 2.0000 3.0000 %! -0.4247 1.5194 2.3249 %! -0.3538 1.2540 1.9250 ]; %! %! initial_d_exp = [yd_exp, td_exp, xd_exp]; %! %!assert (initial_c, initial_c_exp, 1e-4) %!assert (initial_d, initial_d_exp, 1e-4) control-3.2.0/inst/PaxHeaders.3947/ctrbf.m0000644000000000000000000000013213450727360015121 xustar0030 mtime=1554231024.453423439 30 atime=1554231024.453423439 30 ctime=1554231028.525576056 control-3.2.0/inst/ctrbf.m0000644000175000017500000000713713450727360015372 0ustar00olafolaf00000000000000## Copyright (C) 2010 Benjamin Fernandez ## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{sysbar}, @var{T}, @var{K}] =} ctrbf (@var{sys}) ## @deftypefnx{Function File} {[@var{sysbar}, @var{T}, @var{K}] =} ctrbf (@var{sys}, @var{tol}) ## @deftypefnx{Function File} {[@var{Abar}, @var{Bbar}, @var{Cbar}, @var{T}, @var{K}] =} ctrbf (@var{A}, @var{B}, @var{C}) ## @deftypefnx{Function File} {[@var{Abar}, @var{Bbar}, @var{Cbar}, @var{T}, @var{K}] =} ctrbf (@var{A}, @var{B}, @var{C}, @var{TOL}) ## If Co=ctrb(A,B) has rank r <= n = SIZE(A,1), then there is a ## similarity transformation Tc such that Tc = [t1 t2] where t1 ## is the controllable subspace and t2 is orthogonal to t1 ## ## @example ## @group ## Abar = Tc \\ A * Tc , Bbar = Tc \\ B , Cbar = C * Tc ## @end group ## @end example ## ## and the transformed system has the form ## ## @example ## @group ## | Ac A12| | Bc | ## Abar = |----------|, Bbar = | ---|, Cbar = [Cc | Cnc]. ## | 0 Anc| | 0 | ## @end group ## @end example ## ## where (Ac,Bc) is controllable, and Cc(sI-Ac)^(-1)Bc = C(sI-A)^(-1)B. ## and the system is stabilizable if Anc has no eigenvalues in ## the right half plane. The last output K is a vector of length n ## containing the number of controllable states. ## @end deftypefn ## Author: Benjamin Fernandez ## Created: 2010-04-30 ## Version: 0.1 function [ac, bc, cc, z, ncont] = ctrbf (a, b = [], c, tol = []) if (nargin < 1 || nargin > 4) print_usage (); endif islti = isa (a, "lti"); if (islti) if (nargin > 2) print_usage (); endif sys = a; tol = b; [a, b, c] = ssdata (sys); else if (nargin < 3) print_usage (); endif sys = ss (a, b, c); [a, b, c] = ssdata (sys); endif if (isempty (tol)) tol = 0; # default tolerance elseif (! is_real_scalar (tol)) error ("ctrbf: tol must be a real scalar"); endif [ac, bc, cc, z, ncont] = __sl_tb01ud__ (a, b, c, tol); if (islti) ac = set (sys, "a", ac, "b", bc, "c", cc, "scaled", false); bc = z; cc = ncont; endif endfunction %!shared Ao, Bo, Co, Zo, Ae, Be, Ce, Ze, NCONT %! A = [ -1.0 0.0 0.0 %! -2.0 -2.0 -2.0 %! -1.0 0.0 -3.0 ]; %! %! B = [ 1.0 0.0 0.0 %! 0.0 2.0 1.0 ].'; %! %! C = [ 0.0 2.0 1.0 %! 1.0 0.0 0.0 ]; %! %! [Ao, Bo, Co, Zo, NCONT] = ctrbf (A, B, C); %! %! Ae = [ -3.0000 2.2361 %! 0.0000 -1.0000 ]; %! %! Be = [ 0.0000 -2.2361 %! 1.0000 0.0000 ]; %! %! Ce = [ -2.2361 0.0000 %! 0.0000 1.0000 ]; %! %! Ze = [ 0.0000 1.0000 0.0000 %! -0.8944 0.0000 -0.4472 %! -0.4472 0.0000 0.8944 ]; %! %!assert (Ao(1:NCONT, 1:NCONT), Ae, 1e-4); %!assert (Bo(1:NCONT, :), Be, 1e-4); %!assert (Co(:, 1:NCONT), Ce, 1e-4); %!assert (Zo, Ze, 1e-4); control-3.2.0/inst/PaxHeaders.3947/place.m0000644000000000000000000000013213450727360015105 xustar0030 mtime=1554231024.573428021 30 atime=1554231024.573428021 30 ctime=1554231028.525576056 control-3.2.0/inst/place.m0000644000175000017500000001406613450727360015355 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{f} =} place (@var{sys}, @var{p}) ## @deftypefnx {Function File} {@var{f} =} place (@var{a}, @var{b}, @var{p}) ## @deftypefnx {Function File} {[@var{f}, @var{info}] =} place (@var{sys}, @var{p}, @var{alpha}) ## @deftypefnx {Function File} {[@var{f}, @var{info}] =} place (@var{a}, @var{b}, @var{p}, @var{alpha}) ## Pole assignment for a given matrix pair (@var{A},@var{B}) such that @code{p = eig (A-B*F)}. ## If parameter @var{alpha} is specified, poles with real parts (continuous-time) ## or moduli (discrete-time) below @var{alpha} are left untouched. ## ## @strong{Inputs} ## @table @var ## @item sys ## Continuous- or discrete-time @acronym{LTI} system. ## @item a ## State matrix (n-by-n) of a continuous-time system. ## @item b ## Input matrix (n-by-m) of a continuous-time system. ## @item p ## Desired eigenvalues of the closed-loop system state-matrix @var{A-B*F}. ## @code{length (p) <= rows (A)}. ## @item alpha ## Specifies the maximum admissible value, either for real ## parts or for moduli, of the eigenvalues of @var{A} which will ## not be modified by the eigenvalue assignment algorithm. ## @code{alpha >= 0} for discrete-time systems. ## @end table ## ## @strong{Outputs} ## @table @var ## @item f ## State feedback gain matrix. ## @item info ## Structure containing additional information. ## @item info.nfp ## The number of fixed poles, i.e. eigenvalues of @var{A} having ## real parts less than @var{alpha}, or moduli less than @var{alpha}. ## These eigenvalues are not modified by @command{place}. ## @item info.nap ## The number of assigned eigenvalues. @code{nap = n-nfp-nup}. ## @item info.nup ## The number of uncontrollable eigenvalues detected by the ## eigenvalue assignment algorithm. ## @item info.z ## The orthogonal matrix @var{z} reduces the closed-loop ## system state matrix @code{A + B*F} to upper real Schur form. ## Note the positive sign in @code{A + B*F}. ## @end table ## ## @strong{Note} ## @example ## Place is also suitable to design estimator gains: ## @group ## L = place (A.', C.', p).' ## L = place (sys.', p).' # useful for discrete-time systems ## @end group ## @end example ## ## @strong{Algorithm}@* ## Uses SLICOT SB01BD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Special thanks to Peter Benner from TU Chemnitz for his advice. ## Author: Lukas Reichlin ## Created: December 2009 ## Version: 0.5 function [f, info] = place (a, b, p = [], alpha = [], tol = []) if (nargin < 2 || nargin > 5) print_usage (); endif if (isa (a, "lti")) # place (sys, p), place (sys, p, alpha), place (sys, p, alpha, tol) if (nargin > 4) # nargin < 2 already tested print_usage (); endif tol = alpha; alpha = p; p = b; sys = a; [a, b] = ssdata (sys); # descriptor matrice e should be regular discrete = ! isct (sys); # treat tsam = -2 as continuous system else # place (a, b, p), place (a, b, p, alpha), place (a, b, p, alpha, tol) if (nargin < 3) # nargin > 5 already tested print_usage (); endif if (! is_real_square_matrix (a) || ! is_real_matrix (b) || rows (a) != rows (b)) error ("place: matrices a and b not conformal"); endif discrete = 0; # assume continuous system endif if (! isnumeric (p) || ! isvector (p) || isempty (p)) # p could be complex error ("place: p must be a vector"); endif p = sort (reshape (p, [], 1)); # complex conjugate pairs must appear together wr = real (p); wi = imag (p); n = rows (a); # number of states np = length (p); # number of given eigenvalues if (np > n) error ("place: at most %d eigenvalues can be assigned for the given matrix a (%dx%d)", n, n, n); endif if (isempty (alpha)) if (discrete) alpha = 0; else alpha = - norm (a, inf); endif endif if (isempty (tol)) tol = 0; endif [f, nfp, nap, nup, z] = __sl_sb01bd__ (a, b, wr, wi, discrete, alpha, tol); f = -f; # A + B*F --> A - B*F info = struct ("nfp", nfp, "nap", nap, "nup", nup, "z", z); endfunction ## Test from "legacy" control package 1.0.* %!shared A, B, C, P, Kexpected %! A = [0, 1; 3, 2]; %! B = [0; 1]; %! C = [2, 1]; # C is needed for ss; it doesn't matter what the value of C is %! P = [-1, -0.5]; %! Kexpected = [3.5, 3.5]; %!assert (place (ss (A, B, C), P), Kexpected, 2*eps); %!assert (place (A, B, P), Kexpected, 2*eps); ## FIXME: Test from SLICOT example SB01BD fails with 4 eigenvalues in P %!shared F, F_exp, ev_ol, ev_cl %! A = [-6.8000 0.0000 -207.0000 0.0000 %! 1.0000 0.0000 0.0000 0.0000 %! 43.2000 0.0000 0.0000 -4.2000 %! 0.0000 0.0000 1.0000 0.0000]; %! %! B = [ 5.6400 0.0000 %! 0.0000 0.0000 %! 0.0000 1.1800 %! 0.0000 0.0000]; %! %! P = [-0.5000 + 0.1500i %! -0.5000 - 0.1500i]; #%! -2.0000 + 0.0000i #%! -0.4000 + 0.0000i]; %! %! ALPHA = -0.4; %! TOL = 1e-8; %! %! F = place (A, B, P, ALPHA, TOL); %! %! F_exp = - [-0.0876 -4.2138 0.0837 -18.1412 %! -0.0233 18.2483 -0.4259 -4.8120]; %! %! ev_ol = sort (eig (A)); %! ev_cl = sort (eig (A - B*F)); %! %!assert (F, F_exp, 1e-4); %!assert (ev_ol(3:4), ev_cl(3:4), 1e-4); control-3.2.0/inst/PaxHeaders.3947/__axis_margin__.m0000644000000000000000000000013013450727360017114 xustar0029 mtime=1554231024.33741901 29 atime=1554231024.33741901 30 ctime=1554231028.525576056 control-3.2.0/inst/__axis_margin__.m0000644000175000017500000000362413450727360017364 0ustar00olafolaf00000000000000## Copyright (C) 1998, 2000, 2004, 2005, 2007 ## Auburn University. All rights reserved. ## ## ## This program is free software; you can redistribute it and/or modify it ## under the terms of the GNU General Public License as published by ## the Free Software Foundation; either version 3 of the License, or (at ## your option) any later version. ## ## This program is distributed in the hope that it will be useful, but ## WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU ## General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program; see the file COPYING. If not, see ## . ## -*- texinfo -*- ## @deftypefn {Function File} {} __axis_margin__ (@var{axdata}) ## Determine axis limits for 2-D data (column vectors); leaves a 10% ## margin around the plots. ## Inserts margins of +/- 0.1 if data is one-dimensional ## (or a single point). ## ## @strong{Input} ## @table @var ## @item axdata ## @var{n} by 2 matrix of data [@var{x}, @var{y}]. ## @end table ## ## @strong{Output} ## @table @var ## @item axvec ## Vector of axis limits appropriate for call to @command{axis} function. ## @end table ## @end deftypefn function axvec = __axis_margin__ (axdata) ## compute axis limits minv = axdata(1); maxv = axdata(2); delv = (maxv-minv)/2; # breadth of the plot midv = (minv + maxv)/2; # midpoint of the plot axmid = [midv, midv]; axdel = [-0.1, 0.1]; # default plot width (if less than 2-d data) if (delv == 0) if (midv != 0) axdel = [-0.1*midv, 0.1*midv]; endif else ## they're at least one-dimensional tolv = max(1e-8, 1e-8*abs(midv)); if (abs (delv) >= tolv) axdel = 1.1*[-delv,delv]; endif endif axvec = axmid + axdel; endfunction control-3.2.0/inst/PaxHeaders.3947/dsort.m0000644000000000000000000000013213450727360015154 xustar0030 mtime=1554231024.477424356 30 atime=1554231024.477424356 30 ctime=1554231028.525576056 control-3.2.0/inst/dsort.m0000644000175000017500000000403613450727360015420 0ustar00olafolaf00000000000000## Copyright (C) 2016 Mark Bronsfeld ## ## This program is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## This program is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{s} =} dsort(@var{p}) ## @deftypefnx {Function File} {[@var{s}, @var{ndx}] =} dsort(@var{p}) ## Sort discrete-time poles by magnitude (in decreasing order). ## ## @strong{Inputs} ## @table @var ## @item p ## Input vector containing discrete-time poles. ## @end table ## ## @strong{Outputs} ## @table @var ## @item s ## Vector with sorted poles. ## @item ndx ## Vector containing the indices used in the sort. ## @end table ## ## @seealso{eig, esort, pole, pzmap, sort, zero} ## @end deftypefn ## Author: Mark Bronsfeld ## Created: December 2016 ## Version: 0.2 function [s, ndx] = dsort(p) if(nargin == 1) if(!isvector(p)) error("dsort: argument must be a vector"); endif else print_usage(); endif [s, ndx] = sort(p, 'descend'); endfunction %!shared s_exp, ndx_exp, s_obs, ndx_obs %! p = [-0.2410+0.5573i; %! -0.2410-0.5573i; %! 0.1503; %! -0.0972; %! -0.2590]; %! s_exp = [ -0.2410+0.5573i; %! -0.2410-0.5573i; %! -0.2590; %! 0.1503; %! -0.0972]; %! ndx_exp = [ 1; %! 2; %! 5; %! 3; %! 4]; %! [s_obs, ndx_obs] = dsort(p); %!assert(s_obs, s_exp, 0); %!assert(ndx_obs, ndx_exp, 0); control-3.2.0/inst/PaxHeaders.3947/issample.m0000644000000000000000000000013213450727360015636 xustar0030 mtime=1554231024.529426341 30 atime=1554231024.529426341 30 ctime=1554231028.525576056 control-3.2.0/inst/issample.m0000644000175000017500000000661713450727360016111 0ustar00olafolaf00000000000000## Copyright (C) 1996, 2000, 2002, 2003, 2004, 2005, 2007 ## Auburn University. All rights reserved. ## ## This program is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## This program is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{bool} =} issample (@var{ts}) ## @deftypefnx {Function File} {@var{bool} =} issample (@var{ts}, @var{flg}) ## Return true if @var{ts} is a valid sampling time. ## ## @strong{Inputs} ## @table @var ## @item ts ## Alleged sampling time to be tested. ## @item flg = 1 ## Accept real scalars @var{ts} > 0. Default Value. ## @item flg = 0 ## Accept real scalars @var{ts} >= 0. ## @item flg = -1 ## Accept real scalars @var{ts} > 0 and @var{ts} == -1. ## @item flg = -10 ## Accept real scalars @var{ts} >= 0 and @var{ts} == -1. ## @item flg = -2 ## Accept real scalars @var{ts} >= 0, @var{ts} == -1 and @var{ts} == -2. ## @end table ## ## @strong{Outputs} ## @table @var ## @item bool ## True if conditions are met and false otherwise. ## @end table ## ## @end deftypefn ## Author: A. S. Hodel ## Created: July 1995 ## Adapted-By: Lukas Reichlin ## Date: September 2009 ## Version: 0.3 function bool = issample (tsam, flg = 1) if (nargin < 1 || nargin > 2) print_usage (); endif switch (flg) case 1 # discrete bool = is_real_scalar (tsam) && (tsam > 0); case 0 # continuous or discrete bool = is_real_scalar (tsam) && (tsam >= 0); case -1 # discrete, tsam unspecified bool = is_real_scalar (tsam) && (tsam > 0 || tsam == -1); case -10 # continuous or discrete, tsam unspecified bool = is_real_scalar (tsam) && (tsam >= 0 || tsam == -1); case -2 # accept static gains bool = is_real_scalar (tsam) && (tsam >= 0 || tsam == -1 || tsam == -2); otherwise print_usage (); endswitch endfunction ## flg == 1 %!assert (issample (1)) %!assert (issample (pi)) %!assert (issample (0), false) %!assert (issample (-1), false) %!assert (issample (-1, 1), false) %!assert (issample ("a"), false) %!assert (issample (eye (2)), false) %!assert (issample (2+2i), false) ## flg == 0 %!assert (issample (1, 0)) %!assert (issample (0, 0)) %!assert (issample (-1, 0), false) %!assert (issample (pi, 0)) %!assert (issample ("b", 0), false) %!assert (issample (rand (3,2), 0), false) %!assert (issample (2+2i, 0), false) %!assert (issample (0+2i, 0), false) ## flg == -1 %!assert (issample (-1, -1)) %!assert (issample (0, -1), false) %!assert (issample (1, -1)) %!assert (issample (pi, -1)) %!assert (issample (-pi, -1), false) %!assert (issample ("b", -1), false) %!assert (issample (rand (3,2), -1), false) %!assert (issample (-2+2i, -1), false) ## errors %!error (issample (-1, "ab")) %!error (issample ()) %!error (issample (-1, -1, -1)) %!error (issample (1, pi)) %!error (issample (5, rand (2,3))) %!error (issample (0, 1+2i)) control-3.2.0/inst/PaxHeaders.3947/__adjust_iddata_tsam__.m0000644000000000000000000000013213450727360020441 xustar0030 mtime=1554231024.329418705 30 atime=1554231024.329418705 30 ctime=1554231028.525576056 control-3.2.0/inst/__adjust_iddata_tsam__.m0000644000175000017500000000302013450727360020675 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Check whether tsam is a e-by-1 cell array of valid sampling times. ## If not, it tries to convert tsam accordingly. ## Empty tsam are filled with default value -1. ## Author: Lukas Reichlin ## Created: February 2012 ## Version: 0.1 function tsam = __adjust_iddata_tsam__ (tsam, e) if (isempty (tsam)) tsam = num2cell (-ones (e, 1)); elseif (iscell (tsam)) tsam = reshape (tsam, [], 1); else tsam = {tsam}; endif tmp = cellfun (@issample, tsam, {-1}); if (any (! tmp)) error ("iddata: invalid sampling time"); endif nt = numel (tsam); if (nt == 1 && e > 1) tsam = repmat (tsam, e, 1); elseif (nt != e) error ("iddata: there are %d experiments, but only %d sampling times", ... e, nt); endif endfunction control-3.2.0/inst/PaxHeaders.3947/moen4.m0000644000000000000000000000013213450727360015043 xustar0030 mtime=1554231024.553427257 30 atime=1554231024.553427257 30 ctime=1554231028.525576056 control-3.2.0/inst/moen4.m0000644000175000017500000044615113450727360015317 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{sys}, @var{x0}, @var{info}] =} moen4 (@var{dat}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}, @var{info}] =} moen4 (@var{dat}, @var{n}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}, @var{info}] =} moen4 (@var{dat}, @var{opt}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}, @var{info}] =} moen4 (@var{dat}, @var{n}, @var{opt}, @dots{}) ## Estimate state-space model using combined subspace method: ## @acronym{MOESP} algorithm for finding the matrices A and C, ## and @acronym{N4SID} algorithm for finding the matrices B and D. ## If no output arguments are given, the singular values are ## plotted on the screen in order to estimate the system order. ## ## @strong{Inputs} ## @table @var ## @item dat ## iddata set containing the measurements, i.e. time-domain signals. ## @item n ## The desired order of the resulting state-space system @var{sys}. ## If not specified, @var{n} is chosen automatically according ## to the singular values and tolerances. ## @item @dots{} ## Optional pairs of keys and values. @code{'key1', value1, 'key2', value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## ## @strong{Outputs} ## @table @var ## @item sys ## Discrete-time state-space model. ## @item x0 ## Initial state vector. If @var{dat} is a multi-experiment dataset, ## @var{x0} becomes a cell vector containing an initial state vector ## for each experiment. ## @item info ## Struct containing additional information. ## @table @var ## @item info.K ## Kalman gain matrix. ## @item info.Q ## State covariance matrix. ## @item info.Ry ## Output covariance matrix. ## @item info.S ## State-output cross-covariance matrix. ## @item info.L ## Noise variance matrix factor. LL'=Ry. ## @end table ## @end table ## ## ## ## @strong{Option Keys and Values} ## @table @var ## @item 'n' ## The desired order of the resulting state-space system @var{sys}. ## @var{s} > @var{n} > 0. ## ## @item 's' ## The number of block rows @var{s} in the input and output ## block Hankel matrices to be processed. @var{s} > 0. ## In the MOESP theory, @var{s} should be larger than @var{n}, ## the estimated dimension of state vector. ## ## @item 'alg', 'algorithm' ## Specifies the algorithm for computing the triangular ## factor R, as follows: ## @table @var ## @item 'C' ## Cholesky algorithm applied to the correlation ## matrix of the input-output data. Default method. ## @item 'F' ## Fast QR algorithm. ## @item 'Q' ## QR algorithm applied to the concatenated block ## Hankel matrices. ## @end table ## ## @item 'tol' ## Absolute tolerance used for determining an estimate of ## the system order. If @var{tol} >= 0, the estimate is ## indicated by the index of the last singular value greater ## than or equal to @var{tol}. (Singular values less than @var{tol} ## are considered as zero.) When @var{tol} = 0, an internally ## computed default value, @var{tol} = @var{s}*@var{eps}*SV(1), is used, ## where SV(1) is the maximal singular value, and @var{eps} is ## the relative machine precision. ## When @var{tol} < 0, the estimate is indicated by the ## index of the singular value that has the largest ## logarithmic gap to its successor. Default value is 0. ## ## @item 'rcond' ## The tolerance to be used for estimating the rank of ## matrices. If the user sets @var{rcond} > 0, the given value ## of @var{rcond} is used as a lower bound for the reciprocal ## condition number; an m-by-n matrix whose estimated ## condition number is less than 1/@var{rcond} is considered to ## be of full rank. If the user sets @var{rcond} <= 0, then an ## implicitly computed, default tolerance, defined by ## @var{rcond} = m*n*@var{eps}, is used instead, where @var{eps} is the ## relative machine precision. Default value is 0. ## ## @item 'confirm' ## Specifies whether or not the user's confirmation of the ## system order estimate is desired, as follows: ## @table @var ## @item true ## User's confirmation. ## @item false ## No confirmation. Default value. ## @end table ## ## @item 'noiseinput' ## The desired type of noise input channels. ## @table @var ## @item 'n' ## No error inputs. Default value. ## @iftex ## @tex ## $$ x_{k+1} = A x_k + B u_k $$ ## $$ y_k = C x_k + D u_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## x[k+1] = A x[k] + B u[k] ## y[k] = C x[k] + D u[k] ## @end example ## @end ifnottex ## ## @item 'e' ## Return @var{sys} as a (p-by-m+p) state-space model with ## both measured input channels u and noise channels e ## with covariance matrix @var{Ry}. ## @iftex ## @tex ## $$ x_{k+1} = A x_k + B u_k + K e_k $$ ## $$ y_k = C x_k + D u_k + e_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## x[k+1] = A x[k] + B u[k] + K e[k] ## y[k] = C x[k] + D u[k] + e[k] ## @end example ## @end ifnottex ## ## @item 'v' ## Return @var{sys} as a (p-by-m+p) state-space model with ## both measured input channels u and white noise channels v ## with identity covariance matrix. ## @iftex ## @tex ## $$ x_{k+1} = A x_k + B u_k + K L v_k $$ ## $$ y_k = C x_k + D u_k + L v_k $$ ## $$ e = L v, \\ L L^T = R_y $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## x[k+1] = A x[k] + B u[k] + K L v[k] ## y[k] = C x[k] + D u[k] + L v[k] ## e = L v, L L' = Ry ## @end example ## @end ifnottex ## ## @item 'k' ## Return @var{sys} as a Kalman predictor for simulation. ## @iftex ## @tex ## $$ \\widehat{x}_{k+1} = A \\widehat{x}_k + B u_k + K (y_k - \\widehat{y}_k) $$ ## $$ \\widehat{y}_k = C \\widehat{x}_k + D u_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ^ ^ ^ ## x[k+1] = A x[k] + B u[k] + K(y[k] - y[k]) ## ^ ^ ## y[k] = C x[k] + D u[k] ## @end example ## @end ifnottex ## ## @iftex ## @tex ## $$ \\widehat{x}_{k+1} = (A-KC) \\widehat{x}_k + (B-KD) u_k + K y_k $$ ## $$ \\widehat{y}_k = C \\widehat{x}_k + D u_k + 0 y_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ^ ^ ## x[k+1] = (A-KC) x[k] + (B-KD) u[k] + K y[k] ## ^ ^ ## y[k] = C x[k] + D u[k] + 0 y[k] ## @end example ## @end ifnottex ## @end table ## @end table ## ## ## @strong{Algorithm}@* ## Uses SLICOT IB01AD, IB01BD and IB01CD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: May 2012 ## Version: 0.1 function [sys, x0, info] = moen4 (varargin) if (nargin == 0) print_usage (); endif if (nargout == 0) __slicot_identification__ ("moen4", nargout, varargin{:}); else [sys, x0, info] = __slicot_identification__ ("moen4", nargout, varargin{:}); endif endfunction %!shared SYS, X0, INFO, Ae, Be, Ce, De, Ke, Qe, Rye, Se, X0e %! %! Y = [ 4.7661 5.5451 5.8503 5.3766 4.8833 5.4865 3.5378 5.3155 6.0530 4.3729 %! 4.7637 5.1886 5.9236 5.6818 4.8858 5.1495 3.5549 5.5329 6.0799 4.7417 %! 4.8394 4.8833 5.9212 5.8235 4.8931 4.8442 3.4938 5.4450 6.1287 5.0884 %! 5.0030 4.6000 5.9773 5.9529 4.7148 4.5414 3.4474 5.3961 6.0799 5.1861 %! 5.0176 4.2704 5.7405 6.0628 4.4511 4.2679 3.4401 5.2740 6.1678 5.0372 %! 5.0567 4.0384 5.3888 6.0897 4.2337 4.0604 3.4083 5.0274 6.1947 4.7856 %! 5.1544 3.8381 5.0005 6.0750 4.0433 3.9602 3.4108 4.7441 6.2362 4.5634 %! 5.3619 3.7112 4.8491 6.0262 3.8650 3.7893 3.4523 4.6684 6.0530 4.5341 %! 5.4254 3.5915 4.9444 5.9944 3.7576 3.6428 3.6818 4.6513 5.6525 4.7050 %! 5.5695 3.5353 5.1739 6.0775 3.6696 3.5256 4.0604 4.5146 5.2740 4.7417 %! 5.6818 3.4865 5.3693 5.8577 3.5939 3.4987 4.4413 4.2679 4.8589 4.6489 %! 5.7429 3.4767 5.4474 5.7014 3.5475 3.4547 4.8540 4.2606 4.5341 4.4315 %! 5.8039 3.4254 5.6037 5.7307 3.5060 3.4083 5.1544 4.2630 4.4560 4.2386 %! 5.9187 3.3815 5.7307 5.7844 3.4547 3.3790 5.4254 4.1898 4.6196 4.0652 %! 5.8210 3.3693 5.8503 5.8235 3.3986 3.3766 5.5964 4.2777 4.8662 3.9431 %! 5.4474 3.3644 5.9798 5.8943 3.3619 3.3619 5.5866 4.6000 5.1177 3.8113 %! 5.0616 3.3473 5.9920 5.7624 3.3400 3.3595 5.3546 4.9322 5.1666 3.6916 %! 4.6293 3.3815 6.0848 5.4157 3.3742 3.3693 5.0274 5.2838 5.0567 3.6525 %! 4.2679 3.4206 5.9407 4.9615 3.5207 3.3986 4.8638 5.5280 5.0030 3.8259 %! 4.0115 3.4132 5.8039 4.5952 3.7136 3.5793 4.7612 5.7405 5.0982 4.2240 %! 3.8503 3.4523 5.7917 4.3314 3.7576 3.9480 4.5707 5.8748 5.3253 4.4242 %! 3.7112 3.6355 5.6037 4.2972 3.7795 4.4120 4.3681 5.9554 5.5671 4.4291 %! 3.5695 4.0384 5.2643 4.5829 3.6965 4.5854 4.3974 5.9920 5.4670 4.3192 %! 3.5182 4.3754 4.9468 4.8613 3.7771 4.5146 4.5732 5.8455 5.2521 4.1385 %! 3.6525 4.7270 4.6196 5.1739 3.8870 4.3436 4.8418 5.5280 4.9468 3.9651 %! 3.8186 5.0567 4.5146 5.1666 3.9041 4.1556 5.2032 5.0616 4.8809 3.8870 %! 3.8626 5.2985 4.4340 4.9199 3.8503 3.9847 5.4523 4.7344 4.9810 3.8015 %! 4.0115 5.5329 4.2850 4.6074 3.9651 4.0433 5.6525 4.5341 5.2252 3.7014 %! 4.3534 5.4670 4.1214 4.3705 4.2826 4.3070 5.8552 4.5341 5.4596 3.6403 %! 4.7050 5.1959 3.9456 4.1825 4.5219 4.4218 5.9065 4.6977 5.7234 3.7673 %! 5.0836 4.8858 3.9847 4.0384 4.7148 4.3534 5.9529 4.7441 5.7917 4.1507 %! 5.3449 4.7637 4.2191 4.1458 4.9712 4.2240 5.8284 4.6196 5.9065 4.6489 %! 5.2740 4.8760 4.5463 4.4315 5.2203 4.0530 5.7917 4.6440 5.9920 4.9908 %! 5.1275 5.0420 4.8735 4.5561 5.5329 3.9407 5.7991 4.8320 5.8357 5.0884 %! 4.7612 5.2838 5.1544 4.4804 5.6525 3.8381 5.8137 5.1324 5.5280 5.0225 %! 4.4511 5.4914 5.3888 4.3754 5.7820 3.7307 5.8772 5.4108 5.1422 4.7832 %! 4.2215 5.5964 5.6135 4.3705 5.9554 3.6525 5.9554 5.6257 4.7759 4.6855 %! 4.0457 5.6721 5.8357 4.5585 6.0359 3.6110 5.7820 5.6037 4.4902 4.6660 %! 3.8748 5.7722 5.8845 4.8589 6.1190 3.5646 5.5182 5.3155 4.2362 4.7075 %! 3.7307 5.8308 5.9554 4.8955 6.1336 3.4963 5.1275 4.9615 4.0237 4.9126 %! 3.6623 5.9334 5.7624 4.7417 6.1532 3.4621 4.7637 4.6196 3.8870 5.1959 %! 3.5768 5.8992 5.4596 4.7441 6.1922 3.4547 4.4926 4.3583 3.7527 5.4157 %! 3.5427 5.9358 5.0616 4.8760 6.1434 3.4254 4.2337 4.1556 3.6818 5.6232 %! 3.4792 5.8943 4.7075 5.1055 6.1678 3.3790 4.0115 4.0335 3.8064 5.7405 %! 3.4547 5.9187 4.4584 5.2398 5.9920 3.4328 3.8552 3.8870 4.1458 5.8992 %! 3.3595 5.9944 4.2679 5.5182 5.6525 3.6232 3.6916 3.7722 4.6000 5.9285 %! 3.2985 5.9578 4.0530 5.6525 5.4596 3.9749 3.6355 3.6403 5.0030 6.0506 %! 3.2252 6.0311 3.9431 5.7234 5.4376 4.3803 3.8186 3.5329 5.3033 6.1532 %! 3.2008 6.0628 3.8259 5.8552 5.3400 4.7148 4.1556 3.4352 5.5524 5.9651 %! 3.2252 6.0408 3.9676 5.9627 5.0982 5.0738 4.5903 3.4279 5.6159 5.5866 %! 3.2276 6.0970 4.2801 5.9847 4.7856 5.3693 4.9883 3.4230 5.5231 5.3815 %! 3.2740 6.1239 4.4804 5.9847 4.4926 5.6037 5.0762 3.3986 5.6110 5.3717 %! 3.4572 6.1629 4.4926 6.0555 4.2362 5.7453 4.9077 3.6037 5.7136 5.4865 %! 3.8674 6.0408 4.3900 6.0628 4.0677 5.6525 4.6489 4.0237 5.8455 5.5671 %! 4.3217 5.8455 4.1971 6.0555 3.9334 5.4010 4.3778 4.4511 5.8992 5.8210 %! 4.4926 5.7722 4.1116 6.0701 3.8235 5.0152 4.2166 4.7930 5.9944 5.9138 %! 4.4315 5.7991 3.9822 5.7844 3.7307 4.7099 4.2875 4.9029 6.0921 5.9944 %! 4.2435 5.9236 3.8674 5.4401 3.6110 4.4169 4.5903 4.7808 6.0921 6.0115 %! 4.0506 5.9285 3.7673 5.0567 3.5646 4.2362 4.8467 4.5903 6.1434 5.9993 %! 3.8577 6.0018 3.8723 4.9419 3.5500 4.2362 5.1397 4.3363 6.1532 6.0188 %! 3.7307 6.0018 4.2362 5.0103 3.5573 4.2484 5.3888 4.1458 6.2337 5.8210 %! 3.7917 6.0604 4.6635 5.1348 3.5134 4.2215 5.6892 4.2166 6.1873 5.7282 %! 3.9212 5.8821 4.9712 5.3131 3.5158 4.2972 5.8845 4.4340 6.0140 5.7405 %! 3.9554 5.5109 5.0665 5.4792 3.6941 4.5903 6.0433 4.7148 5.8357 5.7649 %! 3.8479 5.3229 4.9029 5.6232 4.0726 4.8931 6.1703 5.0982 5.7746 5.8821 %! 3.7258 5.3717 4.6757 5.5622 4.4804 5.1348 6.2118 5.3595 5.6867 5.9260 %! 3.6110 5.4547 4.3925 5.3302 4.7050 5.4279 6.2508 5.5695 5.5378 5.7502 %! 3.7160 5.4376 4.0994 5.0103 4.6123 5.3790 6.2093 5.7722 5.3278 5.4157 %! 4.0921 5.1593 4.1141 4.6660 4.3851 5.3644 6.0140 5.9212 5.0543 4.9956 %! 4.4804 4.9029 4.3265 4.4145 4.2020 5.4523 5.7014 6.0555 4.7002 4.8613 %! 4.8149 4.5878 4.6440 4.2020 4.0262 5.5671 5.4694 5.9627 4.3949 4.9029 %! 5.0543 4.5024 4.9712 4.0482 3.9041 5.6721 5.4792 5.6428 4.1800 5.1031 %! 5.3033 4.5952 5.1593 4.0799 3.7746 5.7698 5.5573 5.4352 4.0433 5.3644 %! 5.4865 4.8247 5.3888 4.1898 3.6916 5.8308 5.7282 5.3888 3.8772 5.5964 %! 5.6721 5.0640 5.5768 4.1312 3.8455 5.9236 5.8821 5.5378 3.7527 5.7527 %! 5.7795 5.2716 5.6525 4.0042 4.2020 5.9651 5.9847 5.6818 3.7282 5.8455 %! 5.7991 5.4670 5.8039 3.9163 4.5854 6.0579 5.9016 5.7014 3.8699 5.9285 %! 5.6648 5.6159 5.9138 3.9602 4.9029 6.0506 5.5817 5.6159 4.2069 6.0066 %! 5.2911 5.5280 5.8870 4.1996 5.2569 6.0726 5.3717 5.6672 4.3558 5.8406 %! 4.8809 5.2545 5.7991 4.6245 5.5109 6.1116 5.4181 5.7405 4.4267 5.5182 %! 4.5585 4.8833 5.7307 4.8833 5.6403 6.0701 5.5109 5.8039 4.4535 5.1739 %! 4.1849 4.5170 5.7624 5.1373 5.8430 5.8967 5.6672 5.8821 4.5219 4.7392 %! 3.8894 4.1971 5.8137 5.3790 5.9749 5.7551 5.7917 5.9505 4.3925 4.4584 %! 3.7087 4.0018 5.8210 5.6232 5.9358 5.7185 5.6989 6.0726 4.1556 4.4267 %! 3.6232 3.8064 5.9285 5.7624 5.8210 5.8210 5.4840 6.1483 3.9651 4.6025 %! 3.5695 3.9041 6.0140 5.8333 5.5280 6.0018 5.1544 6.1165 3.8772 4.8223 %! 3.7185 3.9236 5.7649 5.6867 5.1715 6.0018 4.9810 6.1776 3.9700 5.1837 %! 4.0335 3.8699 5.4132 5.3668 4.8101 5.9016 5.0616 6.2020 4.2582 5.4303 %! 4.4120 3.8064 5.0982 5.2252 4.4535 5.5573 5.1959 6.2069 4.4218 5.6525 %! 4.6293 3.7209 4.6782 5.2398 4.3803 5.1739 5.3595 5.9920 4.3363 5.8210 %! 4.5585 3.8186 4.3729 5.3546 4.5659 4.8003 5.6159 5.5646 4.2997 5.7063 %! 4.3949 4.1409 4.3925 5.5085 4.8052 4.4315 5.7624 5.1788 4.3925 5.3693 %! 4.1800 4.5292 4.5903 5.5964 5.1251 4.1947 5.8577 4.9981 4.6757 5.0274 %! 4.1971 4.8052 4.9199 5.7527 5.3546 4.0066 5.9480 5.0518 4.7612 4.7050 %! 4.4315 5.0860 5.0176 5.8748 5.5891 3.8503 5.8357 5.2325 4.6587 4.4145 %! 4.7148 5.3400 4.8589 5.9065 5.7649 3.7478 5.7063 5.4840 4.4902 4.1458 %! 4.9615 5.5329 4.6757 5.8943 5.9236 3.6428 5.4987 5.6867 4.3070 3.9651 %! 5.3009 5.5768 4.6196 5.7429 5.9407 3.5915 5.1886 5.8992 4.1263 4.0335 %! 5.5671 5.6672 4.8345 5.4474 5.8577 3.5695 5.1177 5.8699 3.9724 4.3729 %! 5.6818 5.7917 5.0909 5.0250 5.6941 3.5280 5.1910 5.9773 4.0775 4.6831 ](:); %! %! %! %! U = [ 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 3.4100 %! 3.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 %! 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 %! 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 %! 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 %! 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 6.4100 %! 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 %! 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 %! 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 %! 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 %! 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 %! 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 3.4100 %! 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 3.4100 %! 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 3.4100 %! 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 3.4100 %! 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 %! 3.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 %! 3.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 %! 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 %! 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 %! 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 %! 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 %! 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 %! 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 %! 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 %! 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 %! 6.4100 3.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 %! 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 %! 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 %! 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 %! 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 %! 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 %! 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 %! 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 3.4100 3.4100 3.4100 %! 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 %! 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 %! 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 %! 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 %! 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 %! 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 %! 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 %! 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 %! 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 %! 3.4100 3.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 %! 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 %! 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 %! 3.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 %! 6.4100 3.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 %! 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 %! 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 %! 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 %! 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 %! 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 %! 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 %! 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 %! 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 %! 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 %! 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 %! 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 %! 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 %! 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 %! 3.4100 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 %! 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 %! 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 %! 3.4100 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 %! 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 %! 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 %! 6.4100 3.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 %! 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 3.4100 6.4100 %! 3.4100 3.4100 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 %! 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 %! 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 %! 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 3.4100 %! 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 %! 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 %! 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 %! 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 %! 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 %! 6.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 3.4100 6.4100 %! 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 %! 3.4100 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 %! 3.4100 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 %! 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 ](:); %! %! %! DAT = iddata (Y, U); %! %! [SYS, X0, INFO] = moen4 (DAT, "s", 15, "rcond", 0.0, "tol", -1.0, "confirm", false); %! %! Ae = [ 0.8924 0.3887 0.1285 0.1716 %! -0.0837 0.6186 -0.6273 -0.4582 %! 0.0052 0.1307 0.6685 -0.6755 %! 0.0055 0.0734 -0.2148 0.4788 ]; %! %! Ce = [ -0.4442 0.6663 0.3961 0.4102 ]; %! %! Be = [ -0.2142 %! -0.1968 %! 0.0525 %! 0.0361 ]; %! %! De = [ -0.0041 ]; %! %! Ke = [ -1.9513 %! -0.1867 %! 0.6348 %! -0.3486 ]; %! %! Qe = [ 0.0052 0.0005 -0.0017 0.0009 %! 0.0005 0.0000 -0.0002 0.0001 %! -0.0017 -0.0002 0.0006 -0.0003 %! 0.0009 0.0001 -0.0003 0.0002 ]; %! %! Rye = [ 0.0012 ]; %! %! Se = [ -0.0025 %! -0.0002 %! 0.0008 %! -0.0005 ]; %! %! X0e = [ -11.496422 %! -0.718576 %! -0.014211 %! 0.500073 ]; # X0e is not from SLICOT %! %! ## The SLICOT test for IB01CD uses COMUSE=C, not COMUSE=U. %! ## This means that they don't use the matrices B and D %! ## computed by IB01BD. They use only A and C from IB01BD, %! ## while B and D are from SLICOT routine IB01CD. %! ## Therefore they get slightly different matrices B and D %! ## and finally a different initial state vector X0. %! %!assert (SYS.A, Ae, 1e-4); %!assert (SYS.B, Be, 1e-4); %!assert (SYS.C, Ce, 1e-4); %!assert (SYS.D, De, 1e-4); %!assert (INFO.K, Ke, 1e-4); %!assert (INFO.Q, Qe, 1e-4); %!assert (INFO.Ry, Rye, 1e-4); %!assert (INFO.S, Se, 1e-4); %!assert (X0, X0e, 1e-4); ## [96-003] Data of a 120 MW power plant (Pont-sur-Sambre, France) %!shared SYS, Ae, Be, Ce, De %! U = [ -811 -592 421 -680 -681 %! -812 -619 477 -685 -651 %! -817 -565 538 -678 -677 %! -695 -725 536 -674 -702 %! -697 -571 531 -676 -685 %! -697 -618 533 -681 -721 %! -702 -579 549 -677 -699 %! -703 -487 575 -677 -694 %! -705 -449 561 -679 -678 %! -705 -431 563 -680 -692 %! -707 -502 561 -679 -686 %! -707 -583 530 -676 -751 %! -710 -458 540 -677 -700 %! -713 -469 543 -679 -731 %! -715 -506 549 -684 -635 %! -713 -590 532 -681 -715 %! -714 -582 528 -676 -696 %! -713 -575 538 -679 -690 %! -716 -382 557 -682 -701 %! -716 -476 558 -679 -690 %! -718 -425 565 -678 -686 %! -719 -409 562 -679 -615 %! -719 -508 523 -677 -737 %! -721 -569 523 -679 -722 %! -723 -434 542 -681 -735 %! -723 -395 544 -676 -704 %! -723 -428 542 -677 -729 %! -722 -402 537 -677 -706 %! -725 -380 534 -681 -696 %! -726 -324 549 -676 -701 %! -726 -211 578 -675 -614 %! -727 -113 569 -677 -738 %! -727 -208 554 -676 -737 %! -727 -320 523 -684 -697 %! -727 944 605 -680 -587 %! -729 396 654 -681 -708 %! -729 754 637 -682 -685 %! -727 419 522 -677 -715 %! -729 378 494 -668 -703 %! -728 363 493 -669 -682 %! -729 390 496 -665 -713 %! -729 106 483 -664 -711 %! -729 32 495 -661 -718 %! -729 517 585 -661 -641 %! -729 455 625 -659 -703 %! -730 521 649 -687 -669 %! -730 540 627 -689 -705 %! -731 514 605 -694 -682 %! -585 525 558 -685 -611 %! -586 534 520 -680 -668 %! -586 539 531 -681 -679 %! -585 519 507 -682 -663 %! -588 513 505 -667 -668 %! -587 509 539 -680 -616 %! -587 512 535 -668 -628 %! -588 514 557 -667 -648 %! -588 553 563 -676 -613 %! -589 519 559 -684 -638 %! -589 521 563 -682 -652 %! -588 518 547 -678 -597 %! -589 552 549 -688 -630 %! -589 520 535 -685 -623 %! -589 547 542 -678 -619 %! -589 549 531 -684 -524 %! -588 544 522 -1540 -580 %! -588 564 555 -1538 -584 %! -588 684 545 -1541 -564 %! -590 558 546 -1541 -609 %! -589 552 537 -1550 -601 %! -591 532 526 -1548 -580 %! -590 544 524 -1542 -565 %! -591 559 535 -1538 -604 %! -592 555 542 -1548 -629 %! -591 577 532 -1549 -587 %! -593 581 530 -1543 -585 %! -592 562 540 -1548 -583 %! -591 568 546 -1536 -587 %! -593 550 557 -1533 -569 %! -592 550 537 -1518 -527 %! -593 568 551 -1533 -582 %! -590 528 540 -1529 -492 %! -590 542 532 -1525 -585 %! -590 556 535 -1522 -606 %! -591 637 535 -1516 -571 %! -591 608 539 -1512 -582 %! -591 545 527 -1510 -577 %! -591 603 534 -1507 -548 %! -592 567 521 -1507 -539 %! -594 560 530 -1503 -583 %! -422 549 534 -1487 -542 %! 5 619 550 -1488 -609 %! 5 572 541 -1487 -545 %! 185 564 529 -1488 -528 %! 185 571 531 -1497 -512 %! 187 590 545 -1489 -472 %! 186 658 544 -1485 -501 %! 185 639 553 -1486 -512 %! 187 604 532 -1486 -490 %! 186 584 535 -1486 -505 %! 187 572 541 -1488 -479 %! 186 570 531 -1486 -477 %! 187 579 539 -1488 -482 %! 187 694 537 -1487 -512 %! 187 727 546 -1494 -474 %! 186 838 545 -1493 -470 %! 186 703 527 -1492 -510 %! 185 634 502 -1490 -486 %! 185 659 502 -1490 -446 %! 185 569 483 -1488 -472 %! 184 552 494 -1487 -468 %! 183 541 492 -1487 -411 %! 184 544 519 -1486 -471 %! 184 577 538 -1487 -420 %! 183 536 546 -1490 -455 %! 183 586 567 -1487 -421 %! 183 554 566 -1485 -449 %! 183 564 558 -1486 -455 %! 182 558 546 -1486 -426 %! 183 659 543 -1486 -398 %! 182 545 531 -1487 -425 %! 182 542 513 -1487 -297 %! 181 549 502 -1486 -407 %! 180 558 963 -1487 -391 %! 182 546 1105 -1487 -388 %! 179 540 1166 -1487 -387 %! 181 519 1221 -1487 -390 %! 179 510 1254 -1486 -382 %! 176 528 1289 -1487 -379 %! 178 510 1310 -1486 -389 %! 178 504 1313 -1484 -357 %! 178 507 1328 -1484 -383 %! 178 519 1333 -1489 -426 %! 183 509 1317 -1483 -377 %! 177 585 1331 -1483 -352 %! 176 765 1334 -1484 -375 %! 196 689 1328 -1484 -381 %! 178 570 1306 -1486 -398 %! 176 997 1338 -1483 -360 %! 176 839 1318 -1487 -366 %! 176 879 1324 -90 -394 %! 175 763 1302 -92 -436 %! 175 739 1307 -92 -430 %! 176 791 1336 -86 -446 %! 175 774 1301 -91 -405 %! 174 782 1304 -91 -414 %! 189 722 1335 -92 -360 %! 173 871 1341 -91 -417 %! 173 825 1337 -86 -383 %! 193 836 1332 -86 -449 %! 174 832 1325 -87 -432 %! 175 834 1326 -88 -383 %! 176 899 1332 -86 -341 %! 195 827 1296 -84 -371 %! 174 897 1311 -86 -366 %! 195 848 1320 -86 -416 %! 192 777 1286 -83 126 %! 171 788 1309 -84 153 %! 171 810 1307 -84 173 %! 174 758 1297 -85 182 %! 188 910 1329 -1036 236 %! 189 944 1344 -1669 245 %! 196 859 1330 -1668 249 %! 190 797 1320 -1669 231 %! 191 784 1341 -1665 248 %! 184 737 1335 -1656 240 %! 182 733 1342 -1655 245 %! 182 696 1350 -1653 253 %! 185 614 1341 -1658 236 %! 188 708 1370 -1654 238 %! 191 729 1366 -1655 237 %! 183 714 1380 -1651 262 %! 186 695 1378 -1651 257 %! 189 758 1387 -1649 276 %! 164 572 1364 -1649 257 %! 163 587 1343 -1650 246 %! 161 683 1353 -1658 261 %! 160 572 1359 -1654 261 %! 160 607 1355 -1651 267 %! 158 580 1349 -1655 273 %! 161 631 1362 -1652 272 %! 160 706 1382 -1657 298 %! 161 601 1356 -1654 277 %! 159 570 1354 -1653 274 %! 158 547 1347 -1657 261 %! 158 582 1332 -1657 257 %! 157 570 1340 -1657 267 %! 154 556 1343 -1657 268 %! 157 537 1345 -1657 -425 %! 158 555 1331 -1653 -581 %! 158 551 1315 -1654 -643 %! 159 590 1322 -1656 -687 %! 160 566 1315 -1657 -737 %! 160 553 1315 -1653 -767 %! 161 644 1327 -1396 -731 %! 159 640 1335 -577 -639 %! 161 726 1334 -577 -730 %! 175 729 1310 -573 -711 %! 175 854 1330 -576 -690 %! 161 729 1313 -573 -636 %! 176 706 1314 -583 -745 ]; %! %! %! Y = [ 117 129 -47 %! 113 141 -42 %! 83 150 -37 %! 144 174 -3 %! 156 196 19 %! 174 192 6 %! 171 193 3 %! 169 224 14 %! 155 211 14 %! 137 175 4 %! 130 165 13 %! 145 172 21 %! 128 173 30 %! 119 194 30 %! 127 188 11 %! 147 176 5 %! 162 183 19 %! 173 178 14 %! 131 161 4 %! 112 139 -11 %! 91 133 -10 %! 75 127 -7 %! 80 115 -10 %! 87 132 6 %! 51 151 6 %! 28 167 3 %! 22 167 -3 %! 9 171 4 %! 7 158 6 %! -11 155 5 %! -87 149 -8 %! -153 146 -12 %! -184 116 -20 %! -167 118 8 %! -563 78 -4 %! -694 -3 -155 %! -1000 -39 -168 %! -1101 -28 -135 %! -1080 55 6 %! -1075 162 89 %! -1035 254 117 %! -894 329 148 %! -747 409 218 %! -774 416 231 %! -781 361 189 %! -825 288 171 %! -897 220 166 %! -960 175 169 %! -994 157 196 %! -1009 202 237 %! -1003 267 258 %! -981 326 267 %! -947 361 276 %! -921 369 280 %! -894 369 292 %! -876 359 302 %! -869 356 318 %! -857 334 316 %! -857 336 320 %! -868 331 323 %! -873 316 324 %! -870 301 326 %! -867 294 323 %! -878 293 322 %! -877 300 309 %! -891 317 233 %! -919 308 160 %! -919 296 111 %! -898 304 94 %! -884 336 101 %! -876 344 92 %! -877 347 77 %! -859 354 79 %! -852 368 84 %! -852 362 79 %! -846 337 67 %! -846 322 71 %! -836 325 82 %! -831 330 81 %! -848 332 84 %! -834 334 89 %! -830 314 87 %! -838 322 93 %! -859 313 73 %! -864 317 59 %! -852 318 48 %! -850 313 59 %! -858 327 65 %! -849 332 82 %! -822 332 77 %! -721 377 121 %! -517 492 193 %! -306 596 226 %! -117 683 244 %! 22 716 212 %! 87 684 157 %! 151 642 129 %! 198 599 105 %! 233 549 93 %! 244 512 83 %! 255 487 70 %! 247 453 49 %! 225 437 32 %! 175 410 4 %! 105 386 -12 %! 86 379 -35 %! 101 382 -16 %! 111 412 3 %! 158 451 31 %! 217 486 37 %! 259 504 29 %! 301 503 24 %! 317 495 7 %! 354 472 -3 %! 361 441 -8 %! 368 413 -32 %! 362 381 -34 %! 354 370 -42 %! 310 360 -36 %! 318 369 -36 %! 313 372 -36 %! 298 377 -28 %! 311 341 -34 %! 339 292 -33 %! 362 223 -52 %! 380 161 -73 %! 397 113 -90 %! 402 64 -117 %! 398 30 -136 %! 396 12 -148 %! 390 -22 -189 %! 377 -47 -211 %! 366 -54 -227 %! 331 -52 -240 %! 227 -74 -289 %! 168 -117 -355 %! 149 -104 -357 %! 10 -101 -344 %! -77 -115 -374 %! -116 -88 -330 %! -106 -53 -223 %! -82 -4 -98 %! -99 5 -40 %! -89 22 3 %! -79 34 26 %! -74 34 42 %! -101 28 61 %! -102 28 73 %! -124 22 74 %! -125 19 90 %! -132 9 100 %! -167 8 102 %! -161 7 90 %! -185 19 105 %! -207 29 110 %! -295 24 159 %! -361 17 293 %! -411 12 436 %! -401 48 540 %! -441 86 601 %! -475 118 553 %! -448 146 472 %! -401 172 428 %! -366 197 400 %! -304 231 391 %! -252 253 387 %! -183 261 399 %! -123 255 405 %! -107 247 397 %! -76 228 392 %! -71 205 389 %! -66 192 381 %! -92 171 371 %! -40 178 356 %! -15 185 353 %! -27 170 359 %! 15 173 351 %! 23 175 356 %! 44 178 338 %! 47 171 323 %! 4 153 294 %! 23 141 295 %! 39 141 306 %! 52 139 313 %! 53 142 313 %! 69 142 312 %! 74 136 306 %! 196 164 277 %! 347 208 133 %! 461 230 -58 %! 526 204 -251 %! 581 161 -385 %! 588 119 -458 %! 549 63 -528 %! 497 5 -550 %! 420 -20 -498 %! 327 -49 -464 %! 198 -78 -438 %! 154 -80 -409 %! 130 -60 -377 ]; %! %! DAT = iddata (Y, U, 1228.8); %! %! [SYS, X0] = moen4 (DAT, "s", 10, "n", 8, "rcond", 0.0, "tol", -1.0); %! %! Ae = [ 0.9811 0.0574 0.3270 0.0003 0.0358 0.0403 -0.1366 0.0276 %! 0.1043 0.7634 -0.1308 0.2252 0.0203 -0.0117 -0.2328 -0.2516 %! -0.0612 0.1437 0.8378 -0.2400 0.0367 -0.3205 -0.0367 -0.0978 %! -0.0213 0.0149 0.0706 0.8902 0.2415 -0.1329 0.3080 -0.0143 %! -0.0076 0.0680 0.0557 -0.0469 0.7084 0.2852 0.2565 0.1508 %! -0.0016 0.0603 0.0071 -0.0448 -0.0870 0.8608 0.1495 -0.1148 %! 0.0046 0.0120 0.0040 -0.0272 0.0117 -0.0654 0.8348 -0.4557 %! -0.0058 0.0133 -0.0112 -0.0171 -0.0353 -0.0892 0.3328 0.7650 ]; %! %! Ce = [ -0.1635 0.6294 0.1157 -0.2129 0.0812 -0.0238 0.0745 0.2027 %! 0.1775 0.1736 -0.2839 -0.0750 -0.4986 -0.1254 0.3740 0.1598 %! 0.2012 -0.0045 -0.4447 -0.3289 0.4767 -0.3377 0.0200 -0.0978 ]; %! %! Be = [ -0.0436 0.1911 -0.1345 0.0409 0.2828 %! 0.5541 -0.4223 0.0001 -0.0151 -0.1778 %! -0.3644 0.2868 0.0754 -0.0457 -0.1691 %! -0.0372 0.1270 -0.0772 -0.0714 -0.0255 %! -0.1251 -0.0021 0.1094 0.0576 0.2121 %! -0.1372 0.1139 0.0030 0.0141 0.0493 %! -0.0187 0.0712 -0.0042 0.0075 -0.0221 %! -0.0834 0.0509 0.0322 -0.0089 0.0009 ]; %! %! De = [ 0.1581 -0.3111 -0.0350 0.0179 -0.1403 %! -0.0037 -0.0461 -0.1177 0.0092 -0.0242 %! 0.0476 -0.0237 -0.0159 0.0174 0.0464 ]; %! %!assert (abs (SYS.A), abs (Ae), 1e-4); %!assert (abs (SYS.B), abs (Be), 1e-4); %!assert (abs (SYS.C), abs (Ce), 1e-4); %!assert (abs (SYS.D), abs (De), 1e-4); ## [96-007] Data of a CD-player arm %!shared SYS, Ae, Be, Ce, De %! UY = [ 0.0531 -0.0313 0.0495 0.0342 %! 0.0526 -0.0328 0.0525 0.0342 %! 0.0504 -0.0482 0.0485 0.0567 %! 0.0423 -0.1048 0.0285 0.1542 %! 0.0269 -0.1515 0.0555 0.1192 %! 0.0072 -0.1404 0.0635 0.2067 %! -0.0091 -0.0936 0.1885 -0.0558 %! -0.0272 -0.0770 0.1145 0.2292 %! -0.0602 -0.0720 0.0985 0.2767 %! -0.0962 -0.1012 0.2485 -0.0733 %! -0.1266 -0.2732 0.2705 0.3017 %! -0.1548 -0.4999 0.3675 0.2567 %! -0.1831 -0.6836 0.3665 0.3492 %! -0.2225 -0.8477 0.3145 0.7492 %! -0.2638 -0.9533 0.4615 0.4067 %! -0.2865 -0.9926 0.5025 0.4917 %! -0.2877 -0.9519 0.5355 0.5942 %! -0.2652 -0.8100 0.5835 0.2917 %! -0.2229 -0.6546 0.4355 0.4417 %! -0.1690 -0.4802 0.3175 0.2667 %! -0.1022 -0.3147 0.2265 0.1067 %! -0.0262 -0.2181 0.1655 0.1717 %! 0.0508 -0.1214 0.1295 0.0167 %! 0.1181 0.0027 -0.0375 0.0642 %! 0.1639 0.1290 -0.2015 0.0767 %! 0.1915 0.2491 -0.2445 -0.0933 %! 0.2141 0.3501 -0.2085 -0.1833 %! 0.2383 0.4384 -0.2055 -0.2083 %! 0.2591 0.5325 -0.2915 -0.1533 %! 0.2720 0.6505 -0.3725 -0.2108 %! 0.2855 0.7959 -0.3975 -0.4083 %! 0.3036 0.9837 -0.4585 -0.4258 %! 0.3180 1.2078 -0.5175 -0.4108 %! 0.3278 1.4001 -0.4415 -0.6958 %! 0.3333 1.5244 -0.4445 -0.7183 %! 0.3201 1.6123 -0.6065 -0.4658 %! 0.2920 1.6983 -0.5645 -0.8133 %! 0.2720 1.7388 -0.3875 -1.0058 %! 0.2556 1.6854 -0.3775 -0.6208 %! 0.2279 1.5986 -0.4115 -0.6783 %! 0.1954 1.4945 -0.4215 -0.7808 %! 0.1667 1.3238 -0.3475 -0.6483 %! 0.1384 1.0917 -0.2985 -0.5033 %! 0.1039 0.8539 -0.2995 -0.3083 %! 0.0697 0.6475 -0.1155 -0.4483 %! 0.0391 0.4233 -0.0315 -0.2033 %! 0.0027 0.2235 -0.0775 0.0317 %! -0.0330 0.0966 0.0155 -0.2458 %! -0.0606 -0.0817 0.1125 0.0542 %! -0.0827 -0.3000 0.2685 0.1242 %! -0.0939 -0.4675 0.2865 0.0642 %! -0.0950 -0.5866 0.1685 0.3717 %! -0.0840 -0.6702 0.2735 0.1017 %! -0.0611 -0.7676 0.2505 0.2867 %! -0.0432 -0.7891 0.1245 0.5342 %! -0.0289 -0.6736 0.1945 0.0842 %! -0.0126 -0.5516 0.1885 0.2392 %! 0.0003 -0.4055 0.1795 0.1967 %! 0.0159 -0.2097 0.1605 -0.1208 %! 0.0348 -0.0408 0.0925 0.0217 %! 0.0506 0.1208 0.1395 -0.1408 %! 0.0627 0.3078 0.0795 -0.2183 %! 0.0723 0.4773 0.0175 -0.3158 %! 0.0792 0.5095 0.0215 -0.3533 %! 0.0752 0.4314 0.0085 -0.1533 %! 0.0590 0.4053 0.0425 -0.2683 %! 0.0378 0.4174 0.0245 -0.2658 %! 0.0103 0.4410 0.0295 -0.1783 %! -0.0258 0.4940 0.0905 -0.2633 %! -0.0652 0.4837 0.1385 -0.2758 %! -0.1035 0.3611 0.1805 -0.2258 %! -0.1429 0.1376 0.2035 -0.0383 %! -0.1847 -0.2251 0.3095 0.0167 %! -0.2340 -0.7017 0.3245 0.3692 %! -0.3036 -1.1050 0.3355 0.7517 %! -0.3827 -1.3696 0.5995 0.4917 %! -0.4557 -1.6423 0.7655 0.7017 %! -0.5309 -1.9082 0.7975 1.1367 %! -0.6018 -2.0464 0.9805 0.8317 %! -0.6458 -2.0844 1.1445 0.7692 %! -0.6613 -2.0949 1.2125 0.9217 %! -0.6589 -2.0794 1.1595 0.9317 %! -0.6399 -1.9906 1.1525 0.7942 %! -0.6009 -1.8632 1.1895 0.6867 %! -0.5490 -1.7523 1.0765 0.7617 %! -0.4912 -1.6356 0.9615 0.6342 %! -0.4272 -1.5132 0.8845 0.5817 %! -0.3567 -1.3945 0.8295 0.5517 %! -0.2766 -1.3215 0.7085 0.4392 %! -0.1868 -1.3317 0.5175 0.4792 %! -0.0971 -1.3609 0.3765 0.5317 %! -0.0192 -1.3473 0.2125 0.6367 %! 0.0466 -1.2796 0.0715 0.5192 %! 0.1089 -1.2096 -0.0385 0.4117 %! 0.1644 -1.1582 -0.1425 0.5742 %! 0.2056 -1.0522 -0.2015 0.4542 %! 0.2331 -0.9216 -0.3305 0.3817 %! 0.2478 -0.8330 -0.4485 0.4142 %! 0.2518 -0.7613 -0.4545 0.3017 %! 0.2470 -0.7081 -0.4315 0.2892 %! 0.2276 -0.6960 -0.4605 0.3442 %! 0.1865 -0.7076 -0.5155 0.3692 %! 0.1253 -0.7396 -0.4485 0.3242 %! 0.0472 -0.8146 -0.3375 0.4292 %! -0.0473 -0.8961 -0.2235 0.4967 %! -0.1521 -0.9436 -0.0515 0.4692 %! -0.2577 -0.9516 0.1265 0.5667 %! -0.3484 -0.8765 0.3575 0.3617 %! -0.4103 -0.7632 0.4915 0.2542 %! -0.4523 -0.6816 0.4825 0.4667 %! -0.4835 -0.5694 0.5725 0.2892 %! -0.4953 -0.4093 0.6665 0.1417 %! -0.4786 -0.2418 0.7055 0.0917 %! -0.4345 -0.0829 0.6615 0.0192 %! -0.3719 0.0565 0.5455 0.0617 %! -0.2949 0.2073 0.4655 -0.0808 %! -0.2016 0.3566 0.3255 -0.1433 %! -0.0946 0.3950 0.1765 -0.1383 %! 0.0180 0.2803 0.0325 -0.1083 %! 0.1239 0.1148 -0.1245 0.0392 %! 0.2137 -0.0357 -0.2785 0.0642 %! 0.2851 -0.1776 -0.4545 0.1267 %! 0.3386 -0.2838 -0.5135 0.1392 %! 0.3724 -0.3703 -0.5395 0.1992 %! 0.3804 -0.4262 -0.5995 0.2692 %! 0.3606 -0.3882 -0.6205 0.1717 %! 0.3143 -0.2657 -0.6005 0.1667 %! 0.2456 -0.0453 -0.4925 0.0092 %! 0.1633 0.2726 -0.3835 -0.1683 %! 0.0757 0.6140 -0.2705 -0.3183 %! -0.0088 0.8954 -0.1175 -0.5333 %! -0.0827 1.0590 -0.0395 -0.5358 %! -0.1377 1.1857 0.0545 -0.7408 %! -0.1707 1.3715 0.0725 -0.7933 %! -0.1911 1.5865 0.0695 -0.7758 %! -0.2027 1.7486 0.1445 -0.9933 %! -0.2042 1.8322 0.1265 -0.8733 %! -0.1901 1.9362 0.2065 -1.0933 %! -0.1550 2.0756 0.2185 -1.2008 %! -0.1150 2.2175 0.0835 -0.9258 %! -0.0782 2.4161 0.1225 -1.3158 %! -0.0382 2.5968 0.0995 -1.3508 %! 0.0009 2.6974 0.0685 -1.2508 %! 0.0392 2.7343 0.0955 -1.4683 %! 0.0755 2.6634 0.0165 -1.2133 %! 0.1076 2.5477 0.0225 -1.2458 %! 0.1431 2.4412 -0.0305 -1.2558 %! 0.1844 2.3062 -0.1165 -1.0908 %! 0.2260 2.1947 -0.1755 -1.1083 %! 0.2587 2.1622 -0.2835 -0.9508 %! 0.2798 2.1829 -0.3055 -1.0508 %! 0.2967 2.2071 -0.3375 -1.1083 %! 0.3114 2.2195 -0.3515 -1.0408 %! 0.3235 2.2042 -0.3295 -1.1133 %! 0.3315 2.0932 -0.3775 -0.9583 %! 0.3365 1.8795 -0.3815 -0.9233 %! 0.3446 1.6517 -0.4025 -0.8583 %! 0.3561 1.4464 -0.4285 -0.7183 %! 0.3619 1.2298 -0.4995 -0.5708 %! 0.3524 1.0610 -0.6035 -0.3683 %! 0.3355 0.9913 -0.5375 -0.5383 %! 0.3266 0.9109 -0.4835 -0.5358 %! 0.3218 0.7731 -0.5415 -0.2683 %! 0.3110 0.6149 -0.5715 -0.2408 %! 0.2969 0.4368 -0.5525 -0.1883 %! 0.2860 0.2525 -0.4825 -0.1483 %! 0.2740 0.0546 -0.5115 0.0767 %! 0.2521 -0.1300 -0.5075 0.2217 %! 0.2261 -0.2571 -0.3805 0.1317 %! 0.2065 -0.3238 -0.3155 0.1867 %! 0.1931 -0.2987 -0.3305 0.1942 %! 0.1808 -0.2329 -0.3565 0.2092 %! 0.1728 -0.2060 -0.2655 0.1117 %! 0.1778 -0.1696 -0.1935 0.0042 %! 0.1933 -0.0814 -0.2805 0.1292 %! 0.2136 0.0401 -0.3195 0.0017 %! 0.2433 0.1480 -0.3015 -0.1308 %! 0.2830 0.1864 -0.3395 -0.1183 %! 0.3231 0.1801 -0.5095 -0.0508 %! 0.3548 0.1985 -0.6255 -0.0283 %! 0.3828 0.2212 -0.5505 -0.2358 %! 0.4071 0.2130 -0.6185 -0.0833 %! 0.4161 0.2078 -0.7505 -0.0233 %! 0.4070 0.1729 -0.7735 -0.1208 %! 0.3820 0.0580 -0.7255 0.0892 %! 0.3472 -0.1245 -0.6195 0.0492 %! 0.3091 -0.3883 -0.6545 0.2617 %! 0.2664 -0.6903 -0.6355 0.5492 %! 0.2262 -1.0013 -0.4655 0.4792 %! 0.1930 -1.3467 -0.4925 0.8692 %! 0.1636 -1.6417 -0.5175 0.9717 %! 0.1427 -1.8525 -0.4415 0.9067 %! 0.1266 -2.0179 -0.4015 1.2292 %! 0.1118 -2.1203 -0.3485 1.0842 %! 0.1018 -2.1909 -0.3845 1.0817 %! 0.0912 -2.2222 -0.3635 1.2492 %! 0.0774 -2.1564 -0.2115 0.9892 %! 0.0614 -2.0300 -0.1995 1.0467 %! 0.0438 -1.8759 -0.1595 0.9517 %! 0.0385 -1.7096 0.0155 0.5367 %! 0.0457 -1.5773 0.0455 0.6742 %! 0.0461 -1.4479 -0.0415 0.7242 %! 0.0371 -1.2867 -0.0325 0.3842 %! 0.0259 -1.1849 0.0445 0.4142 %! 0.0133 -1.1751 0.1485 0.4092 %! -0.0023 -1.1735 0.1255 0.3992 %! -0.0234 -1.1757 0.0705 0.5492 %! -0.0427 -1.2288 0.1825 0.3642 %! -0.0546 -1.3379 0.1545 0.5367 %! -0.0693 -1.4457 0.0385 0.8092 %! -0.0862 -1.4768 0.0965 0.6067 %! -0.0960 -1.4632 0.1635 0.6542 %! -0.1013 -1.4416 0.1445 0.7117 %! -0.1098 -1.3817 0.0555 0.6417 %! -0.1307 -1.2943 0.0305 0.7067 %! -0.1687 -1.1853 0.1585 0.6017 %! -0.2203 -1.0350 0.2505 0.5317 %! -0.2805 -0.8197 0.3175 0.4542 %! -0.3427 -0.5362 0.4545 0.3067 %! -0.3950 -0.2783 0.6245 0.1217 %! -0.4257 -0.1265 0.6745 -0.0083 %! -0.4347 -0.0352 0.6115 0.0642 %! -0.4273 0.0849 0.6455 -0.0608 %! -0.4080 0.2669 0.6375 -0.0983 %! -0.3808 0.4593 0.5595 -0.1183 %! -0.3378 0.6035 0.5465 -0.4158 %! -0.2776 0.6956 0.4895 -0.3233 %! -0.2139 0.7767 0.4145 -0.2483 %! -0.1485 0.8759 0.3105 -0.5033 %! -0.0798 0.9496 0.1465 -0.4033 %! -0.0138 0.9867 0.1065 -0.4133 %! 0.0481 1.0353 0.0825 -0.5458 %! 0.1014 1.0584 -0.0285 -0.3958 %! 0.1417 1.0195 -0.1245 -0.3508 %! 0.1810 0.9643 -0.1175 -0.5058 %! 0.2304 0.8987 -0.1325 -0.4633 %! 0.2784 0.8223 -0.3155 -0.1833 %! 0.3158 0.7741 -0.4165 -0.3058 %! 0.3477 0.7241 -0.4475 -0.3608 %! 0.3700 0.6195 -0.5515 -0.0458 %! 0.3809 0.5139 -0.5905 -0.1633 %! 0.3896 0.4472 -0.5885 -0.1983 %! 0.3935 0.3697 -0.5985 0.0417 %! 0.3879 0.3296 -0.6335 -0.0308 %! 0.3781 0.3844 -0.6795 -0.1183 %! 0.3661 0.4741 -0.6555 -0.0908 %! 0.3493 0.6039 -0.5805 -0.2358 %! 0.3240 0.7004 -0.5635 -0.2533 %! 0.2858 0.6189 -0.5785 -0.0933 %! 0.2432 0.4427 -0.4435 -0.2383 %! 0.2074 0.2354 -0.3355 -0.1458 %! 0.1672 0.0128 -0.4075 0.2967 %! 0.1183 -0.1060 -0.3275 0.0767 %! 0.0720 -0.1569 -0.2185 0.0792 %! 0.0281 -0.1837 -0.1755 0.2942 %! -0.0110 -0.1465 -0.0965 0.0092 %! -0.0430 -0.1124 -0.1035 0.1892 %! -0.0694 -0.0907 0.0345 0.1267 %! -0.0822 -0.0402 0.1395 -0.0883 %! -0.0840 0.0366 0.0545 0.1267 %! -0.0813 0.1044 0.1125 -0.0758 %! -0.0744 0.0936 0.1615 -0.0783 %! -0.0736 0.0579 0.1215 0.1442 %! -0.0809 0.0546 0.1445 -0.0458 %! -0.0869 0.0402 0.1665 -0.0033 %! -0.0882 0.0025 0.2585 0.0167 %! -0.0891 -0.0893 0.2335 0.0617 %! -0.0989 -0.2016 0.1095 0.2567 %! -0.1157 -0.2898 0.1755 0.1517 %! -0.1279 -0.4203 0.2505 0.2192 %! -0.1321 -0.5523 0.2425 0.2892 %! -0.1353 -0.6380 0.1515 0.3892 %! -0.1451 -0.7266 0.0955 0.5492 %! -0.1517 -0.8032 0.1775 0.3517 %! -0.1402 -0.8444 0.1445 0.4217 %! -0.1103 -0.8473 0.0825 0.4467 %! -0.0677 -0.8711 0.0725 0.3342 %! -0.0286 -0.9469 -0.0805 0.6842 %! 0.0023 -0.9579 -0.1245 0.4242 %! 0.0381 -0.9479 -0.1135 0.2117 %! 0.0664 -0.9993 -0.2065 0.7217 %! 0.0742 -1.0048 -0.1365 0.4642 %! 0.0735 -1.0174 -0.0945 0.2817 %! 0.0619 -1.1243 -0.1855 0.6692 %! 0.0339 -1.2704 -0.1235 0.5067 %! -0.0041 -1.4761 -0.0475 0.6292 %! -0.0512 -1.6788 0.0215 0.8992 %! -0.0973 -1.7716 0.1645 0.6467 %! -0.1341 -1.8061 0.1835 0.7942 %! -0.1695 -1.7935 0.1665 0.9717 %! -0.1988 -1.7171 0.2675 0.6517 %! -0.2107 -1.6368 0.3285 0.6417 %! -0.2119 -1.5489 0.3375 0.7267 %! -0.2123 -1.4181 0.3615 0.5617 %! -0.2172 -1.2714 0.3455 0.5342 %! -0.2319 -1.0671 0.3335 0.4817 %! -0.2558 -0.7123 0.3665 0.2467 %! -0.2838 -0.2669 0.4385 0.0517 %! -0.3123 0.1531 0.5195 -0.1483 %! -0.3390 0.5226 0.5215 -0.3008 %! -0.3576 0.8555 0.4985 -0.4808 %! -0.3583 1.1684 0.5345 -0.7233 %! -0.3436 1.4304 0.5085 -0.6883 %! -0.3233 1.6427 0.4625 -0.7483 %! -0.2932 1.8196 0.4685 -1.0258 %! -0.2534 1.8815 0.3835 -0.8933 %! -0.2164 1.8872 0.2795 -0.7883 %! -0.1816 1.9679 0.2695 -0.9983 %! -0.1423 2.0907 0.2485 -1.0408 %! -0.1081 2.2150 0.1715 -0.9933 %! -0.0923 2.2823 0.0785 -0.9883 %! -0.0926 2.2505 0.0865 -1.0533 %! -0.0974 2.2151 0.1815 -1.1133 %! -0.1033 2.1746 0.2105 -1.0133 %! -0.1130 2.0369 0.1895 -0.9683 %! -0.1261 1.8613 0.1905 -0.8858 %! -0.1377 1.7249 0.2185 -0.8358 %! -0.1403 1.5793 0.2285 -0.8208 %! -0.1310 1.4183 0.2345 -0.7683 %! -0.1180 1.2871 0.2165 -0.6133 %! -0.1102 1.1936 0.1955 -0.5383 %! -0.1015 1.1864 0.2075 -0.7283 %! -0.0886 1.2592 0.1275 -0.5833 %! -0.0749 1.3410 0.1485 -0.5658 %! -0.0470 1.4143 0.2895 -0.9458 %! -0.0031 1.4604 0.1465 -0.6733 %! 0.0402 1.5447 -0.0435 -0.6083 %! 0.0876 1.6959 -0.0645 -1.0383 %! 0.1412 1.7869 -0.1525 -0.8083 %! 0.1883 1.8245 -0.2255 -0.8208 %! 0.2252 1.8679 -0.3275 -0.9933 %! 0.2467 1.9045 -0.4395 -0.8208 %! 0.2469 1.9533 -0.4565 -0.9058 %! 0.2301 1.9731 -0.5135 -0.9308 %! 0.2034 1.9264 -0.4865 -0.9233 %! 0.1679 1.8261 -0.4125 -0.8458 %! 0.1191 1.7087 -0.3975 -0.7083 %! 0.0578 1.6395 -0.3765 -0.7758 %! -0.0120 1.5785 -0.3385 -0.6708 %! -0.0860 1.4653 -0.1925 -0.6008 %! -0.1515 1.3092 0.0135 -0.6958 %! -0.2008 1.0958 0.0985 -0.5583 %! -0.2418 0.8423 0.0795 -0.3258 %! -0.2793 0.5898 0.1115 -0.2908 %! -0.3053 0.3063 0.2445 -0.3208 %! -0.3232 -0.0402 0.2745 0.0467 %! -0.3460 -0.3642 0.2835 0.3317 %! -0.3602 -0.6486 0.4845 0.0767 %! -0.3510 -1.0138 0.5625 0.3067 %! -0.3365 -1.3782 0.4035 0.8092 %! -0.3285 -1.6311 0.3775 0.7192 %! -0.3177 -1.8760 0.4785 0.7742 %! -0.3025 -2.0846 0.5275 1.0067 %! -0.2861 -2.1696 0.4745 1.0042 %! -0.2632 -2.1988 0.4385 0.9742 %! -0.2280 -2.2098 0.4705 0.9567 %! -0.1835 -2.2121 0.3835 1.0492 %! -0.1343 -2.2346 0.2365 1.0167 %! -0.0799 -2.2940 0.2005 0.9267 %! -0.0296 -2.4018 0.1485 1.1567 %! 0.0054 -2.5377 0.0265 1.2892 %! 0.0379 -2.6953 -0.0205 1.1017 %! 0.0850 -2.8762 -0.0155 1.1667 %! 0.1365 -3.0209 -0.1045 1.4792 %! 0.1758 -3.0638 -0.2865 1.4992 %! 0.2069 -3.0199 -0.3975 1.3217 %! 0.2399 -2.9711 -0.3785 1.2517 %! 0.2687 -2.9543 -0.4125 1.3817 %! 0.2813 -2.9447 -0.4615 1.3142 %! 0.2737 -2.9591 -0.4575 1.2217 %! 0.2385 -3.0112 -0.4585 1.4592 %! 0.1778 -3.0317 -0.3535 1.3667 %! 0.1115 -2.9655 -0.1805 1.1367 %! 0.0469 -2.8414 -0.0535 1.2642 %! -0.0254 -2.7009 0.0305 1.2717 %! -0.1049 -2.5296 0.0665 1.1567 %! -0.1749 -2.2903 0.2005 0.8842 %! -0.2261 -2.0294 0.3485 0.7692 %! -0.2709 -1.8409 0.3965 0.9217 %! -0.3160 -1.7059 0.4925 0.6592 %! -0.3553 -1.5587 0.5645 0.5542 %! -0.3887 -1.4311 0.6065 0.6467 %! -0.4132 -1.3691 0.6915 0.4717 %! -0.4202 -1.3607 0.7465 0.4992 %! -0.4079 -1.3743 0.8165 0.5242 %! -0.3790 -1.3781 0.7885 0.4892 %! -0.3393 -1.3442 0.6355 0.5792 %! -0.2925 -1.2459 0.5555 0.4817 %! -0.2378 -1.1148 0.5695 0.3467 %! -0.1856 -0.9931 0.4825 0.4667 %! -0.1486 -0.8185 0.3805 0.3767 %! -0.1216 -0.5874 0.3885 0.0717 %! -0.1015 -0.3821 0.3235 0.1667 %! -0.0898 -0.1778 0.2855 0.0667 %! -0.0712 0.0346 0.3355 -0.2858 %! -0.0379 0.2085 0.3175 -0.2483 %! -0.0027 0.3772 0.2065 -0.2333 %! 0.0236 0.5655 0.0175 -0.3458 %! 0.0438 0.7329 -0.0445 -0.4733 %! 0.0635 0.8253 0.0225 -0.5433 %! 0.0801 0.8649 0.0045 -0.4633 %! 0.0903 0.9308 -0.0115 -0.6133 %! 0.0901 1.0208 -0.0875 -0.5258 %! 0.0744 1.1279 -0.1185 -0.4933 %! 0.0558 1.2299 -0.0115 -0.8233 %! 0.0408 1.2587 -0.0005 -0.6233 %! 0.0191 1.2574 0.0385 -0.5433 %! -0.0063 1.2484 0.0785 -0.7158 %! -0.0255 1.1921 0.0205 -0.5933 %! -0.0336 1.1108 0.0425 -0.6808 %! -0.0357 0.9984 0.0135 -0.4883 %! -0.0415 0.8908 0.0155 -0.3583 %! -0.0416 0.8448 0.0965 -0.6158 %! -0.0291 0.8026 0.0265 -0.4233 %! -0.0135 0.7560 -0.0525 -0.2958 %! 0.0064 0.7406 -0.0195 -0.4958 %! 0.0347 0.7367 -0.0165 -0.4208 %! 0.0633 0.7939 -0.0945 -0.3233 %! 0.0912 0.9579 -0.1195 -0.5658 %! 0.1225 1.1168 -0.1215 -0.6283 %! 0.1480 1.1866 -0.2055 -0.4508 %! 0.1662 1.2186 -0.1875 -0.7083 %! 0.1851 1.2276 -0.2065 -0.7058 %! 0.1996 1.2388 -0.2605 -0.4633 %! 0.2131 1.3063 -0.2195 -0.7858 %! 0.2323 1.3793 -0.3485 -0.6333 %! 0.2558 1.4242 -0.3975 -0.6083 %! 0.2937 1.4094 -0.3555 -0.9133 %! 0.3392 1.2810 -0.5475 -0.4583 %! 0.3757 1.1218 -0.6745 -0.4483 %! 0.4103 0.9746 -0.7225 -0.6508 %! 0.4441 0.8090 -0.8085 -0.2808 %! 0.4710 0.6612 -0.8195 -0.3258 %! 0.4931 0.5291 -0.8975 -0.3208 %! 0.5052 0.4500 -0.9735 -0.1608 %! 0.4969 0.4825 -1.0065 -0.2058 %! 0.4640 0.5571 -1.0395 -0.1783 %! 0.4134 0.6007 -0.9225 -0.3358 %! 0.3525 0.5695 -0.7705 -0.2733 %! 0.2808 0.4708 -0.6625 -0.1683 %! 0.2038 0.3850 -0.5825 -0.2383 %! 0.1330 0.3329 -0.4905 -0.1808 %! 0.0800 0.2964 -0.3315 -0.2783 %! 0.0499 0.2154 -0.2585 -0.2158 %! 0.0356 0.0501 -0.2945 0.0017 %! 0.0345 -0.1225 -0.2425 -0.1633 %! 0.0424 -0.2963 -0.2555 0.0417 %! 0.0454 -0.4329 -0.3185 0.2467 %! 0.0459 -0.4041 -0.2455 -0.0408 %! 0.0501 -0.2796 -0.1785 0.0867 %! 0.0562 -0.1394 -0.1245 0.0392 %! 0.0708 0.0026 -0.1095 -0.2233 %! 0.0921 0.1000 -0.2235 0.0242 %! 0.1173 0.2755 -0.1985 -0.2208 %! 0.1574 0.5562 -0.1505 -0.5558 %! 0.2034 0.7663 -0.3005 -0.3233 %! 0.2345 0.8696 -0.3995 -0.4508 %! 0.2466 0.8681 -0.4305 -0.5183 %! 0.2426 0.8135 -0.4365 -0.4033 %! 0.2294 0.8375 -0.3955 -0.5383 %! 0.2117 0.9195 -0.3865 -0.4633 %! 0.1889 1.0417 -0.3415 -0.5258 %! 0.1615 1.2338 -0.3415 -0.6758 %! 0.1260 1.4168 -0.4065 -0.6508 %! 0.0810 1.5369 -0.3505 -0.7708 %! 0.0342 1.5810 -0.1615 -0.8558 %! -0.0091 1.5314 -0.0225 -0.8083 %! -0.0503 1.4241 -0.0285 -0.7283 %! -0.0876 1.2739 0.0045 -0.7208 %! -0.1141 1.0825 0.0965 -0.7008 %! -0.1308 0.9130 0.1345 -0.5608 %! -0.1446 0.7945 0.1385 -0.5108 %! -0.1608 0.7183 0.1425 -0.4833 %! -0.1846 0.7185 0.1855 -0.4508 %! -0.2169 0.7908 0.2355 -0.5133 %! -0.2502 0.8577 0.2985 -0.5833 %! -0.2747 0.8571 0.4505 -0.6633 %! -0.2911 0.7965 0.5145 -0.5358 %! -0.3055 0.7070 0.5125 -0.5008 %! -0.3153 0.5460 0.5205 -0.5583 %! -0.3242 0.2987 0.4875 -0.2383 %! -0.3392 0.0706 0.5795 -0.1583 %! -0.3528 -0.0710 0.6875 -0.2433 %! -0.3649 -0.1759 0.6485 0.0217 %! -0.3827 -0.3188 0.6335 0.1142 %! -0.3987 -0.5033 0.7005 0.0142 %! -0.4061 -0.6932 0.7185 0.2192 %! -0.4107 -0.8736 0.7015 0.4317 %! -0.4089 -1.0089 0.7395 0.3192 %! -0.3942 -1.1045 0.7075 0.4167 %! -0.3738 -1.2074 0.5835 0.6192 %! -0.3490 -1.3199 0.5075 0.5067 %! -0.3125 -1.4543 0.4785 0.5492 %! -0.2685 -1.5904 0.4425 0.6667 %! -0.2324 -1.6779 0.2805 0.7667 %! -0.2177 -1.7222 0.1215 0.8817 %! -0.2177 -1.7124 0.2035 0.6517 %! -0.2191 -1.6440 0.2945 0.6017 %! -0.2262 -1.5442 0.2725 0.7342 %! -0.2446 -1.4283 0.2725 0.5967 %! -0.2675 -1.3620 0.3145 0.5392 %! -0.2852 -1.3847 0.3815 0.5242 %! -0.2915 -1.4221 0.3885 0.5442 %! -0.2859 -1.4241 0.3955 0.6142 %! -0.2662 -1.4117 0.4345 0.5817 %! -0.2261 -1.4121 0.3795 0.5092 %! -0.1681 -1.4674 0.1875 0.5967 %! -0.1067 -1.5856 0.0025 0.7967 %! -0.0484 -1.7123 0.0105 0.7017 %! 0.0055 -1.8149 -0.0275 0.7892 %! 0.0441 -1.8852 -0.1755 1.0267 %! 0.0662 -1.9856 -0.1775 0.8417 %! 0.0769 -2.2193 -0.1235 1.0092 %! 0.0690 -2.4788 -0.1095 1.2917 %! 0.0433 -2.5547 -0.1075 1.1892 %! 0.0121 -2.4502 -0.0515 1.1292 %! -0.0163 -2.3174 0.0695 1.0167 %! -0.0431 -2.2535 0.0355 1.0567 %! -0.0690 -2.2237 -0.0085 1.0267 %! -0.0830 -2.1826 0.0905 0.8217 %! -0.0802 -2.1610 0.1245 0.9717 %! -0.0644 -2.1314 0.0895 0.8942 %! -0.0389 -2.0083 -0.0235 0.7767 %! -0.0144 -1.7807 -0.0925 0.8117 %! 0.0039 -1.5045 -0.0555 0.5167 %! 0.0181 -1.2185 -0.0975 0.3967 %! 0.0257 -0.9135 -0.1055 0.2917 %! 0.0253 -0.5901 -0.0405 0.0192 %! 0.0119 -0.2804 -0.0405 -0.0208 %! -0.0223 0.0284 -0.0525 -0.1183 %! -0.0722 0.3668 0.0375 -0.3658 %! -0.1248 0.6931 0.2185 -0.5433 %! -0.1762 0.9826 0.3255 -0.5983 %! -0.2279 1.2387 0.3505 -0.7408 %! -0.2801 1.4081 0.3595 -0.7783 %! -0.3313 1.4824 0.4385 -0.7633 %! -0.3714 1.4586 0.5705 -0.8483 %! -0.3940 1.3294 0.5915 -0.6908 %! -0.4058 1.2356 0.5915 -0.5733 %! -0.4124 1.2560 0.5965 -0.6108 %! -0.4123 1.3012 0.5405 -0.5908 %! -0.3988 1.2608 0.5535 -0.6983 %! -0.3752 1.0714 0.5255 -0.4733 %! -0.3563 0.8491 0.5215 -0.2658 %! -0.3428 0.6776 0.5805 -0.4083 %! -0.3337 0.4690 0.4925 -0.1158 %! -0.3337 0.2571 0.5005 0.0117 %! -0.3316 0.0998 0.6345 -0.1208 %! -0.3140 -0.0275 0.7025 -0.0458 %! -0.2848 -0.1338 0.6455 0.0317 %! -0.2575 -0.2528 0.4625 0.1967 %! -0.2342 -0.3685 0.4365 0.0917 %! -0.2083 -0.4770 0.4665 0.0767 %! -0.1875 -0.6038 0.3695 0.3942 %! -0.1767 -0.6891 0.3645 0.2767 %! -0.1647 -0.7274 0.4225 0.1342 %! -0.1496 -0.7568 0.3685 0.2642 %! -0.1427 -0.8146 0.2315 0.3767 %! -0.1438 -0.9273 0.2285 0.3517 %! -0.1384 -1.0284 0.4105 0.2117 %! -0.1249 -1.1491 0.4185 0.4717 %! -0.1147 -1.3249 0.2665 0.6917 %! -0.0989 -1.4528 0.2795 0.4867 %! -0.0619 -1.5434 0.3525 0.5667 %! -0.0081 -1.6087 0.2615 0.7242 %! 0.0507 -1.6067 0.0855 0.6692 %! 0.1051 -1.5640 -0.0405 0.7317 %! 0.1482 -1.4225 -0.0795 0.6492 %! 0.1804 -1.1516 -0.1505 0.4267 %! 0.2027 -0.8082 -0.2635 0.3492 %! 0.2135 -0.4165 -0.2375 0.1192 %! 0.2148 -0.0383 -0.1745 -0.1108 %! 0.2076 0.3144 -0.3045 -0.1433 %! 0.2004 0.6244 -0.3415 -0.4108 %! 0.2110 0.7909 -0.2105 -0.6583 %! 0.2361 0.8213 -0.2295 -0.3833 %! 0.2602 0.7620 -0.3495 -0.3533 %! 0.2841 0.6144 -0.4395 -0.4783 %! 0.3056 0.4209 -0.4835 -0.1683 %! 0.3176 0.2084 -0.4535 -0.0783 %! 0.3250 -0.0407 -0.4695 -0.0783 %! 0.3287 -0.3328 -0.5005 0.1792 %! 0.3187 -0.6266 -0.5085 0.4117 %! 0.2961 -0.8894 -0.5195 0.4617 %! 0.2740 -1.0959 -0.4995 0.4492 %! 0.2542 -1.1684 -0.4795 0.6467 %! 0.2321 -1.0800 -0.3895 0.5542 %! 0.2110 -0.8808 -0.3495 0.3067 %! 0.1900 -0.6415 -0.3965 0.3167 %! 0.1682 -0.4753 -0.3005 0.0467 %! 0.1458 -0.4414 -0.2055 0.0917 %! 0.1163 -0.4386 -0.1425 0.2617 %! 0.0891 -0.3733 0.0045 -0.0933 %! 0.0760 -0.3217 0.0415 -0.0408 %! 0.0669 -0.3010 -0.0135 0.1467 %! 0.0560 -0.2167 -0.0305 -0.0708 %! 0.0476 -0.1060 -0.0405 -0.0458 %! 0.0458 -0.0230 0.0035 -0.1208 %! 0.0540 0.0155 -0.0085 -0.1733 %! 0.0668 -0.0147 -0.1005 0.0117 %! 0.0792 -0.0398 -0.1425 -0.0508 %! 0.0933 -0.0347 -0.1735 -0.0508 %! 0.1089 -0.0374 -0.2045 -0.0283 %! 0.1195 -0.0380 -0.2625 0.0292 %! 0.1195 -0.0179 -0.2725 0.0267 %! 0.1110 0.0673 -0.2335 -0.1483 %! 0.0916 0.2159 -0.2865 -0.0383 %! 0.0596 0.3960 -0.2405 -0.1733 %! 0.0267 0.6076 -0.1025 -0.4333 %! -0.0017 0.8519 -0.0395 -0.3883 %! -0.0248 1.1211 0.0015 -0.6533 %! -0.0414 1.3389 -0.0415 -0.6833 %! -0.0505 1.4805 -0.0145 -0.7208 %! -0.0418 1.5473 0.0785 -1.0008 %! -0.0182 1.5086 -0.0465 -0.7158 %! 0.0047 1.4786 -0.1455 -0.6858 %! 0.0286 1.4618 -0.1135 -0.8933 %! 0.0544 1.3645 -0.1525 -0.6733 %! 0.0735 1.2553 -0.1945 -0.6583 %! 0.0804 1.1186 -0.2285 -0.5433 %! 0.0768 0.9336 -0.1345 -0.4483 %! 0.0700 0.7648 -0.0355 -0.4333 %! 0.0642 0.5964 -0.0615 -0.2583 %! 0.0608 0.4208 -0.0495 -0.2258 %! 0.0602 0.2307 -0.0155 -0.0408 %! 0.0659 0.0514 0.0435 -0.0433 %! 0.0820 -0.0945 0.0105 -0.0583 %! 0.0956 -0.2256 -0.1235 0.2667 %! 0.0948 -0.2807 -0.1055 0.1717 %! 0.0868 -0.2945 -0.0515 0.0367 %! 0.0754 -0.3494 -0.0825 0.1942 %! 0.0574 -0.4033 -0.0815 0.1867 %! 0.0357 -0.4587 -0.0115 0.1717 %! 0.0156 -0.5346 0.0505 0.1867 %! -0.0023 -0.6237 0.0135 0.3017 %! -0.0165 -0.7228 0.0525 0.2717 %! -0.0230 -0.7928 0.1605 0.2417 %! -0.0284 -0.8219 0.1615 0.4642 %! -0.0327 -0.8036 0.1625 0.2917 %! -0.0210 -0.7466 0.1915 0.1567 %! 0.0111 -0.7242 0.2005 0.3042 %! 0.0592 -0.7573 0.1465 0.2667 %! 0.1231 -0.7844 -0.0095 0.2467 %! 0.1999 -0.7794 -0.1375 0.2692 %! 0.2804 -0.7513 -0.2825 0.3117 %! 0.3560 -0.6774 -0.4315 0.2467 %! 0.4198 -0.5854 -0.5625 0.2242 %! 0.4650 -0.5277 -0.6685 0.3242 %! 0.4975 -0.4888 -0.6675 0.1642 %! 0.5329 -0.4856 -0.6705 0.0967 %! 0.5714 -0.5286 -0.7535 0.2292 %! 0.5974 -0.5528 -0.8835 0.3717 %! 0.6036 -0.5237 -0.9285 0.3542 %! 0.6018 -0.4513 -0.8545 0.1417 %! 0.5995 -0.3414 -0.8395 0.2067 %! 0.5916 -0.2010 -0.8205 0.1942 %! 0.5754 -0.0626 -0.8065 0.0892 %! 0.5542 0.0470 -0.8155 0.0967 %! 0.5375 0.0963 -0.7775 -0.0808 %! 0.5306 0.0637 -0.8045 0.0367 %! 0.5296 0.0065 -0.7795 0.0492 %! 0.5319 -0.0821 -0.7785 -0.0208 %! 0.5239 -0.2330 -0.9285 0.2767 %! 0.4911 -0.3534 -0.9875 0.2492 %! 0.4368 -0.4041 -0.9135 0.2767 %! 0.3774 -0.4396 -0.6965 0.2317 %! 0.3299 -0.5189 -0.5085 0.1617 %! 0.2946 -0.5876 -0.5285 0.4617 %! 0.2732 -0.5118 -0.4495 0.1917 %! 0.2735 -0.3676 -0.4335 0.1092 %! 0.2897 -0.2488 -0.4875 0.2317 %! 0.3188 -0.1107 -0.4445 -0.0758 %! 0.3580 0.0310 -0.4655 0.0367 %! 0.3999 0.2099 -0.4825 -0.0933 %! 0.4416 0.4537 -0.6305 -0.2708 %! 0.4758 0.6744 -0.8075 -0.1533 %! 0.5033 0.8167 -0.7235 -0.5058 %! 0.5249 0.8812 -0.7385 -0.3783 %! 0.5302 0.9226 -0.8115 -0.2858 %! 0.5213 0.9572 -0.8195 -0.5783 %! 0.4967 0.9528 -0.8725 -0.2483 %! 0.4535 0.9563 -0.7685 -0.3808 %! 0.4022 0.9923 -0.6685 -0.5258 %! 0.3435 1.0462 -0.6205 -0.2433 %! 0.2816 1.1181 -0.4365 -0.5508 %! 0.2276 1.1811 -0.3685 -0.5858 %! 0.1752 1.2622 -0.3765 -0.4508 %! 0.1188 1.4145 -0.3025 -0.6808 %! 0.0624 1.5738 -0.1975 -0.7083 %! 0.0118 1.6516 -0.0645 -0.8358 %! -0.0333 1.6513 -0.0625 -0.8383 %! -0.0826 1.5769 -0.1065 -0.6158 %! -0.1318 1.4702 0.0125 -0.7833 %! -0.1670 1.4121 0.1115 -0.7908 %! -0.1917 1.3594 0.0985 -0.5433 %! -0.2125 1.2994 0.1295 -0.6108 %! -0.2249 1.2767 0.2415 -0.6833 %! -0.2319 1.2354 0.2795 -0.5283 %! -0.2430 1.1914 0.2665 -0.4958 %! -0.2598 1.1599 0.3615 -0.5608 %! -0.2818 1.0552 0.4915 -0.4008 %! -0.3076 0.8983 0.5765 -0.2833 %! -0.3210 0.7477 0.6535 -0.4083 %! -0.3101 0.6146 0.6765 -0.3383 %! -0.2900 0.5163 0.5625 0.0067 %! -0.2723 0.4557 0.4575 -0.0683 %! -0.2465 0.3869 0.4035 -0.2233 %! -0.2099 0.2499 0.3495 0.0092 %! -0.1739 0.1037 0.3055 0.0267 %! -0.1512 0.0119 0.1695 0.1517 %! -0.1484 -0.0519 0.0805 0.2842 %! -0.1510 -0.0699 0.2045 -0.0533 %! -0.1495 -0.0575 0.2485 0.0517 %! -0.1572 -0.0494 0.2205 0.2867 %! -0.1715 -0.0612 0.3355 -0.0658 %! -0.1810 -0.1391 0.3715 0.0442 %! -0.1916 -0.2317 0.3255 0.2367 %! -0.2045 -0.3066 0.3375 0.0842 %! -0.2152 -0.4015 0.3625 0.2167 %! -0.2228 -0.5104 0.4315 0.2292 %! -0.2264 -0.6669 0.3695 0.2817 %! -0.2322 -0.8304 0.2035 0.5217 %! -0.2424 -0.9202 0.2115 0.4992 %! -0.2438 -0.9549 0.3045 0.3742 %! -0.2288 -0.9232 0.2735 0.3792 %! -0.2076 -0.8649 0.1505 0.5142 %! -0.1881 -0.8226 0.1345 0.4142 %! -0.1670 -0.7409 0.1615 0.2617 %! -0.1451 -0.6425 0.1015 0.3617 %! -0.1230 -0.5638 0.1275 0.1917 %! -0.0984 -0.5363 0.2195 0.1492 %! -0.0803 -0.5953 0.1945 0.3917 %! -0.0729 -0.6555 0.1085 0.3267 %! -0.0632 -0.6865 0.1145 0.1717 %! -0.0489 -0.7249 0.1485 0.3442 %! -0.0439 -0.7028 0.0995 0.4717 %! -0.0451 -0.6042 0.0625 0.2117 %! -0.0406 -0.5269 0.0245 0.1367 %! -0.0383 -0.4894 -0.0435 0.3392 %! -0.0485 -0.4438 -0.0455 0.2067 %! -0.0679 -0.4331 -0.0395 0.2042 %! -0.0895 -0.4768 0.0445 0.2217 %! -0.1077 -0.4958 0.1265 0.0817 %! -0.1329 -0.4951 0.0275 0.3717 %! -0.1737 -0.5221 0.0445 0.3217 %! -0.2132 -0.5739 0.2165 0.0742 %! -0.2403 -0.6589 0.2895 0.3267 %! -0.2575 -0.7592 0.3165 0.3442 %! -0.2639 -0.8295 0.2885 0.3417 %! -0.2594 -0.8865 0.2775 0.3992 %! -0.2440 -0.9962 0.2605 0.3367 %! -0.2267 -1.1301 0.0985 0.6167 %! -0.2183 -1.1910 0.0655 0.6417 %! -0.2123 -1.1804 0.1735 0.4192 %! -0.2063 -1.1308 0.1145 0.5367 %! -0.2103 -1.0522 -0.0135 0.6292 %! -0.2177 -0.9723 0.0595 0.3867 %! -0.2085 -0.8974 0.2295 0.2317 %! -0.1816 -0.8520 0.1905 0.4017 %! -0.1471 -0.8541 0.0715 0.3917 %! -0.1048 -0.8622 0.0615 0.2592 %! -0.0576 -0.8463 0.0615 0.3767 %! -0.0136 -0.8192 -0.0185 0.3392 %! 0.0235 -0.7788 -0.1415 0.3292 %! 0.0551 -0.7021 -0.1095 0.2867 %! 0.0856 -0.6467 -0.0675 0.1667 %! 0.1120 -0.6449 -0.2705 0.3217 %! 0.1297 -0.6291 -0.4115 0.2392 %! 0.1433 -0.6098 -0.3755 0.1167 %! 0.1493 -0.5649 -0.4015 0.2967 %! 0.1413 -0.4200 -0.4795 0.1742 %! 0.1251 -0.2349 -0.5045 -0.0333 %! 0.1035 -0.0723 -0.4195 -0.0283 %! 0.0714 0.0871 -0.3485 -0.0533 %! 0.0300 0.2866 -0.3345 -0.1883 %! -0.0115 0.5233 -0.2235 -0.3508 %! -0.0474 0.7916 -0.0725 -0.4258 %! -0.0765 1.1562 -0.0105 -0.6133 %! -0.0981 1.5229 -0.0365 -0.7958 %! -0.1162 1.7436 -0.0585 -0.7983 %! -0.1316 1.8822 0.0025 -0.9008 %! -0.1349 1.9916 0.0605 -1.0358 %! -0.1202 2.0391 0.0065 -1.0233 %! -0.0932 2.0123 -0.0625 -0.9483 %! -0.0609 1.9210 -0.0805 -0.9583 %! -0.0293 1.8059 -0.1785 -0.8458 %! -0.0052 1.7253 -0.2625 -0.7733 %! 0.0091 1.7317 -0.2195 -0.8883 %! 0.0063 1.7910 -0.1925 -0.7333 %! -0.0175 1.8525 -0.1535 -0.7433 %! -0.0460 1.9114 -0.0405 -1.0208 %! -0.0656 1.9435 0.0365 -0.9383 %! -0.0793 1.9967 0.1075 -0.9433 %! -0.0890 2.0655 0.1275 -1.0708 %! -0.0971 2.0547 0.0985 -0.9808 %! -0.1056 1.9936 0.1425 -1.0508 %! -0.1133 1.9289 0.1445 -1.0233 %! -0.1202 1.8841 0.1445 -1.0283 %! -0.1278 1.8653 0.1605 -1.1133 %! -0.1456 1.8273 0.0905 -0.9433 %! -0.1796 1.7730 0.0805 -0.9833 %! -0.2191 1.6584 0.1575 -1.0358 %! -0.2544 1.4743 0.2565 -0.9083 %! -0.2854 1.3089 0.3565 -0.9083 %! -0.3208 1.1494 0.3295 -0.6758 %! -0.3642 0.9927 0.3655 -0.6683 %! -0.4052 0.8263 0.5005 -0.7658 %! -0.4443 0.5780 0.5355 -0.4133 %! -0.4891 0.3103 0.6355 -0.3558 %! -0.5373 0.1107 0.7275 -0.2808 %! -0.5849 0.0334 0.7645 -0.1008 %! -0.6212 0.1017 0.8415 -0.3308 %! -0.6375 0.2141 0.8055 -0.2608 %! -0.6349 0.3187 0.8195 -0.2683 %! -0.6100 0.4173 0.8785 -0.5558 %! -0.5747 0.4404 0.6735 -0.2058 %! -0.5453 0.3679 0.5525 -0.1733 %! -0.5116 0.2496 0.6265 -0.4183 %! -0.4674 0.1314 0.6485 -0.1408 %! -0.4214 0.0316 0.6365 -0.1358 %! -0.3811 -0.0349 0.5035 -0.0783 %! -0.3498 -0.0504 0.4445 0.0092 %! -0.3165 -0.0772 0.5055 -0.2258 %! -0.2736 -0.1911 0.4325 -0.0983 %! -0.2333 -0.3845 0.3495 0.0917 %! -0.2116 -0.6080 0.2855 0.1917 %! -0.2140 -0.7873 0.2095 0.3642 %! -0.2278 -0.9055 0.1795 0.2642 %! -0.2368 -1.0029 0.1665 0.3317 %! -0.2350 -1.0601 0.2255 0.3617 %! -0.2232 -1.0793 0.2145 0.2592 %! -0.2166 -1.0744 -0.0305 0.4942 %! -0.2288 -0.9663 -0.1795 0.4292 %! -0.2482 -0.7630 -0.0595 0.1117 %! -0.2598 -0.5967 0.1215 0.0967 %! -0.2618 -0.4925 0.2025 0.0492 %! -0.2590 -0.4010 0.1605 0.0367 %! -0.2550 -0.3328 0.1185 0.0867 %! -0.2431 -0.2946 0.1605 -0.0808 %! -0.2166 -0.2787 0.1645 -0.0383 %! -0.1817 -0.3122 0.1755 0.1067 %! -0.1408 -0.4076 0.2485 -0.0058 %! -0.0955 -0.5121 0.1335 0.1192 %! -0.0580 -0.5406 -0.0965 0.2292 %! -0.0371 -0.4996 -0.1945 0.1292 %! -0.0357 -0.4631 -0.1495 0.2142 %! -0.0497 -0.4436 -0.0065 0.0717 %! -0.0737 -0.4519 -0.0165 0.0992 %! -0.1119 -0.4687 -0.0865 0.2892 %! -0.1561 -0.4543 0.0375 -0.0208 %! -0.1950 -0.4876 0.1145 0.0817 %! -0.2343 -0.5827 0.1375 0.2967 %! -0.2695 -0.6924 0.2895 0.0017 %! -0.2983 -0.8815 0.3295 0.3067 %! -0.3325 -1.1117 0.3055 0.5492 %! -0.3656 -1.2956 0.3705 0.2967 %! -0.3906 -1.4858 0.4285 0.5417 %! -0.4198 -1.6773 0.4905 0.8242 %! -0.4544 -1.8112 0.5555 0.6917 %! -0.4817 -1.9092 0.5635 0.7317 %! -0.4984 -1.9624 0.5865 0.8517 %! -0.5052 -1.9578 0.6725 0.7392 %! -0.5043 -1.9750 0.6675 0.8467 %! -0.5005 -2.0244 0.6645 0.8942 %! -0.4895 -2.0492 0.7325 0.7292 %! -0.4713 -2.0865 0.6905 0.9517 %! -0.4485 -2.1329 0.7045 0.9417 %! -0.4108 -2.1318 0.7525 0.7467 %! -0.3562 -2.1064 0.6665 0.9792 %! -0.2897 -2.0510 0.5845 0.8717 %! -0.2097 -1.9414 0.4475 0.7142 %! -0.1240 -1.8255 0.2975 0.8092 %! -0.0458 -1.7261 0.1825 0.7217 %! 0.0176 -1.5932 0.0225 0.7017 %! 0.0662 -1.4228 -0.0535 0.5917 %! 0.1049 -1.3030 -0.0845 0.4792 %! 0.1335 -1.2418 -0.1745 0.5192 %! 0.1483 -1.1914 -0.2385 0.4542 %! 0.1466 -1.1992 -0.2885 0.5092 %! 0.1282 -1.2520 -0.2755 0.5542 %! 0.0992 -1.2430 -0.2205 0.5267 %! 0.0699 -1.1510 -0.1345 0.4517 %! 0.0478 -1.0541 -0.0455 0.3867 %! 0.0322 -0.9852 -0.0195 0.4267 %! 0.0207 -0.8964 0.0005 0.2817 %! 0.0094 -0.8166 -0.0155 0.3042 %! -0.0108 -0.7687 0.0055 0.3492 %! -0.0421 -0.6628 0.0855 0.1892 %! -0.0816 -0.5166 0.1335 0.2067 %! -0.1240 -0.4531 0.1985 0.1517 %! -0.1587 -0.4955 0.2175 0.1317 %! -0.1765 -0.5726 0.2375 0.2242 %! -0.1697 -0.6386 0.2575 0.1567 %! -0.1396 -0.6945 0.1815 0.2542 %! -0.0986 -0.7609 0.0965 0.3417 %! -0.0577 -0.8911 0.0185 0.4417 %! -0.0179 -1.0590 0.0145 0.4917 %! 0.0260 -1.1811 0.0785 0.4217 %! 0.0683 -1.2444 0.0305 0.6217 %! 0.0949 -1.1920 -0.0365 0.6392 %! 0.1073 -1.0508 -0.0215 0.4067 %! 0.1155 -0.9975 -0.0025 0.4092 %! 0.1214 -1.0199 0.0115 0.4092 %! 0.1192 -0.9884 0.0035 0.4167 %! 0.1011 -0.8955 -0.0175 0.4642 %! 0.0706 -0.7734 -0.0055 0.3317 %! 0.0435 -0.6574 0.0385 0.1417 %! 0.0254 -0.5681 0.0495 0.1792 %! 0.0072 -0.4466 0.0325 0.2567 %! -0.0080 -0.2535 0.0875 -0.0533 %! -0.0115 -0.0873 0.0575 -0.1208 %! -0.0112 -0.0130 -0.0395 0.0817 %! -0.0089 0.0369 0.0145 -0.1758 %! 0.0030 0.0533 0.0625 -0.1708 %! 0.0194 -0.0025 0.0185 0.0467 %! 0.0374 -0.0338 -0.0445 -0.0783 %! 0.0607 0.0134 -0.0985 -0.0633 %! 0.0869 0.0666 -0.1175 -0.0358 %! 0.1116 0.1083 -0.1945 -0.0683 %! 0.1329 0.1776 -0.2645 -0.0883 %! 0.1515 0.2269 -0.2495 -0.1808 %! 0.1643 0.2195 -0.3015 -0.0533 %! 0.1677 0.2351 -0.3745 -0.0333 %! 0.1713 0.2860 -0.3445 -0.2508 %! 0.1813 0.2769 -0.3195 -0.1283 %! 0.1898 0.1852 -0.3195 -0.0083 %! 0.1937 0.0800 -0.3415 -0.0683 %! 0.1960 0.0125 -0.3745 0.0767 %! 0.2058 -0.0679 -0.2675 -0.0358 %! 0.2313 -0.2067 -0.2205 -0.0433 %! 0.2604 -0.2975 -0.3315 0.2442 %! 0.2806 -0.2723 -0.3645 0.0692 %! 0.2919 -0.2029 -0.3955 0.0117 %! 0.2899 -0.0986 -0.4325 0.0517 %! 0.2731 0.0407 -0.3855 -0.1783 %! 0.2420 0.1252 -0.3585 -0.1008 %! 0.1990 0.1201 -0.2645 -0.1433 %! 0.1551 0.0612 -0.2165 -0.2383 %! 0.1148 -0.0002 -0.2735 -0.0133 %! 0.0804 -0.0214 -0.2015 -0.1033 %! 0.0626 -0.0484 -0.0865 -0.2383 %! 0.0590 -0.1404 -0.1335 0.0367 %! 0.0604 -0.2218 -0.2005 0.0567 %! 0.0731 -0.2085 -0.1645 -0.1383 %! 0.0997 -0.1695 -0.1575 -0.0058 %! 0.1295 -0.1504 -0.2145 0.0242 %! 0.1556 -0.1147 -0.2605 -0.0783 %! 0.1749 -0.1237 -0.2505 0.0192 %! 0.1857 -0.2165 -0.2005 -0.0008 %! 0.1859 -0.2956 -0.2755 0.1167 %! 0.1726 -0.2906 -0.3025 0.1892 %! 0.1556 -0.2457 -0.1625 -0.0583 %! 0.1417 -0.2264 -0.1545 0.0942 %! 0.1269 -0.2038 -0.1905 0.0842 %! 0.1129 -0.1753 -0.1785 -0.0658 %! 0.0992 -0.1663 -0.1525 0.1442 %! 0.0875 -0.1169 -0.0275 -0.1183 %! 0.0790 -0.0582 -0.0545 -0.0283 %! 0.0663 -0.0174 -0.0605 0.0767 %! 0.0562 0.0665 0.0935 -0.3133 %! 0.0531 0.1512 0.0685 -0.1408 %! 0.0461 0.2151 0.0115 -0.1208 %! 0.0374 0.2488 0.0475 -0.3083 %! 0.0370 0.2115 0.1245 -0.2358 %! 0.0492 0.1377 0.1595 -0.3158 %! 0.0650 0.0180 -0.0255 -0.0283 %! 0.0750 -0.1500 -0.0805 0.0317 %! 0.0891 -0.3396 0.0055 -0.0733 %! 0.1133 -0.5416 -0.0395 0.1742 %! 0.1401 -0.7139 -0.1485 0.2417 %! 0.1603 -0.9009 -0.2485 0.4742 %! 0.1780 -1.1065 -0.1815 0.4742 %! 0.2099 -1.2319 -0.1665 0.3667 %! 0.2553 -1.2788 -0.3375 0.6817 %! 0.3076 -1.2666 -0.3695 0.5117 %! 0.3685 -1.2250 -0.3785 0.4217 %! 0.4305 -1.1970 -0.5295 0.5917 %! 0.4856 -1.1524 -0.7095 0.4792 %! 0.5373 -1.1079 -0.7375 0.4042 %! 0.5897 -1.0977 -0.6755 0.3842 %! 0.6362 -1.0851 -0.8095 0.4792 %! 0.6699 -1.0496 -0.9775 0.4067 %! 0.6894 -0.9976 -1.0365 0.3367 %! 0.6901 -0.9060 -1.0275 0.4142 %! 0.6719 -0.7677 -0.9995 0.2142 %! 0.6371 -0.6139 -1.0315 0.2267 %! 0.5849 -0.4463 -0.9335 0.1717 %! 0.5219 -0.2783 -0.7995 0.0167 %! 0.4573 -0.1421 -0.7785 0.0567 %! 0.4020 -0.0451 -0.6615 -0.1833 %! 0.3559 0.0389 -0.5805 -0.0758 %! 0.3050 0.2057 -0.5415 0.0042 %! 0.2521 0.4271 -0.4775 -0.3708 %! 0.2065 0.5643 -0.4755 -0.3033 %! 0.1686 0.6331 -0.3475 -0.3783 %! 0.1358 0.6722 -0.2895 -0.3708 %! 0.1037 0.6797 -0.3195 -0.2408 %! 0.0778 0.6585 -0.2575 -0.4533 %! 0.0624 0.5950 -0.2515 -0.2558 %! 0.0517 0.5407 -0.2285 -0.1908 %! 0.0473 0.5332 -0.1815 -0.3383 %! 0.0465 0.6105 -0.1795 -0.2558 %! 0.0382 0.7590 -0.1585 -0.3383 %! 0.0154 0.8366 -0.1745 -0.3208 %! -0.0179 0.8604 -0.0875 -0.3733 %! -0.0470 0.8872 0.1005 -0.5033 %! -0.0626 0.8752 0.1875 -0.3783 %! -0.0602 0.8813 0.2065 -0.5008 %! -0.0402 0.8863 0.1245 -0.4583 %! -0.0124 0.8391 0.0235 -0.3433 %! 0.0192 0.7919 -0.0165 -0.4783 %! 0.0554 0.7361 -0.0555 -0.3733 %! 0.0929 0.6751 -0.0475 -0.3683 %! 0.1304 0.6184 -0.0965 -0.3933 %! 0.1639 0.5700 -0.2405 -0.2308 %! 0.1967 0.6093 -0.2875 -0.4483 %! 0.2338 0.7093 -0.3125 -0.4933 %! 0.2645 0.8005 -0.3845 -0.3158 %! 0.2869 0.8915 -0.3885 -0.5983 %! 0.3091 0.9385 -0.4365 -0.6158 %! 0.3251 0.9464 -0.5195 -0.4483 %! 0.3311 0.9586 -0.5255 -0.6083 %! 0.3313 0.9269 -0.5245 -0.5558 %! 0.3224 0.8837 -0.5195 -0.4508 %! 0.3000 0.9051 -0.5285 -0.4733 %! 0.2679 0.9557 -0.5235 -0.4883 %! 0.2360 1.0002 -0.4485 -0.6033 %! 0.2076 0.9830 -0.4105 -0.5083 %! 0.1760 0.8692 -0.4285 -0.3633 %! 0.1395 0.7508 -0.4055 -0.3758 %! 0.1052 0.6499 -0.3275 -0.3558 %! 0.0774 0.5699 -0.2655 -0.3033 %! 0.0517 0.6138 -0.2495 -0.3008 %! 0.0213 0.7287 -0.1975 -0.3383 %! -0.0184 0.7977 -0.1255 -0.3633 %! -0.0668 0.8589 -0.0445 -0.4283 %! -0.1192 0.9156 0.0605 -0.5133 %! -0.1747 0.9026 0.1815 -0.4483 %! -0.2323 0.8126 0.3325 -0.4383 %! -0.2839 0.6700 0.4405 -0.4483 %! -0.3233 0.5204 0.4685 -0.3258 %! -0.3485 0.4290 0.5085 -0.3033 %! -0.3550 0.4219 0.5735 -0.3533 %! -0.3426 0.4701 0.5585 -0.3108 %! -0.3172 0.5523 0.4785 -0.3108 %! -0.2791 0.6432 0.4565 -0.4733 %! -0.2315 0.6805 0.4115 -0.4533 %! -0.1894 0.6917 0.2995 -0.3708 %! -0.1591 0.7669 0.2685 -0.5033 %! -0.1352 0.8755 0.2685 -0.5383 %! -0.1136 0.9348 0.2695 -0.5183 %! -0.0901 0.9419 0.2325 -0.6033 %! -0.0643 0.9225 0.1315 -0.5033 %! -0.0407 0.8522 0.0945 -0.4833 %! -0.0225 0.7295 0.0265 -0.4108 %! -0.0137 0.6081 -0.0405 -0.3008 %! -0.0151 0.4741 -0.0395 -0.2883 %! -0.0274 0.3231 -0.0395 -0.1408 %! -0.0520 0.2134 -0.0215 -0.0958 %! -0.0864 0.1254 -0.0295 -0.0233 %! -0.1263 0.0256 0.0055 0.0442 %! -0.1653 -0.0778 0.0825 0.0617 %! -0.1988 -0.1712 0.1285 0.1667 %! -0.2238 -0.2647 0.1945 0.1292 %! -0.2412 -0.3741 0.1865 0.2617 %! -0.2549 -0.4006 0.1935 0.3267 %! -0.2573 -0.3240 0.2765 0.0892 %! -0.2433 -0.2505 0.2645 0.1417 %! -0.2231 -0.1534 0.2415 0.1142 %! -0.2069 -0.0410 0.2085 0.0342 %! -0.2000 0.0238 0.1645 0.0642 %! -0.2001 0.0544 0.1985 -0.0808 %! -0.2037 -0.0099 0.2065 0.0317 %! -0.2104 -0.1788 0.2635 0.1042 %! -0.2160 -0.3564 0.2935 0.1217 %! -0.2186 -0.5024 0.2335 0.2917 %! -0.2186 -0.5871 0.1745 0.3217 %! -0.2108 -0.5916 0.1735 0.2567 %! -0.1901 -0.5845 0.2265 0.1692 %! -0.1679 -0.6241 0.1165 0.4067 %! -0.1573 -0.6377 0.0325 0.3817 %! -0.1530 -0.6189 0.0765 0.1342 %! -0.1569 -0.6339 0.0265 0.4667 %! -0.1734 -0.6051 0.0855 0.3067 %! -0.1951 -0.5319 0.1385 0.1567 %! -0.2237 -0.4474 0.1275 0.3742 %! -0.2571 -0.3082 0.2075 0.0317 %! -0.2879 -0.2211 0.1775 0.0992 %! -0.3188 -0.1793 0.1985 0.1917 %! -0.3429 -0.0881 0.3475 -0.1158 %! -0.3541 -0.0297 0.3825 -0.0333 %! -0.3618 0.0134 0.3265 0.0117 %! -0.3716 0.0785 0.2805 -0.0033 %! -0.3719 0.0910 0.3965 -0.1883 %! -0.3546 0.0535 0.4395 -0.1708 %! -0.3345 0.0320 0.3055 0.1492 %! -0.3160 0.0821 0.3255 -0.1533 %! -0.2892 0.1773 0.3235 -0.2208 %! -0.2587 0.2922 0.2255 -0.0133 %! -0.2214 0.4446 0.2095 -0.3608 %! -0.1671 0.5549 0.2005 -0.4208 %! -0.1050 0.5845 0.1275 -0.2683 %! -0.0486 0.5966 -0.0525 -0.3083 %! 0.0032 0.5948 -0.1795 -0.4133 %! 0.0516 0.5806 -0.2155 -0.3683 %! 0.0863 0.5808 -0.2465 -0.2633 %! 0.1019 0.5570 -0.2995 -0.3258 %! 0.1007 0.4895 -0.3555 -0.2833 %! 0.0823 0.4475 -0.3445 -0.2083 %! 0.0486 0.4517 -0.3085 -0.1983 %! 0.0106 0.4461 -0.2495 -0.2433 %! -0.0204 0.3968 -0.1525 -0.2433 %! -0.0427 0.3374 -0.1145 -0.1308 %! -0.0570 0.3425 -0.1035 -0.2283 %! -0.0662 0.4094 -0.1785 -0.1583 %! -0.0749 0.4980 -0.1755 -0.1458 %! -0.0767 0.5981 -0.0495 -0.3908 %! -0.0689 0.6888 -0.0465 -0.2683 %! -0.0577 0.7881 -0.0605 -0.3833 %! -0.0469 0.8619 -0.1055 -0.4733 %! -0.0422 0.8321 -0.1485 -0.3083 %! -0.0387 0.7466 -0.0695 -0.5408 %! -0.0309 0.6634 -0.0885 -0.3933 %! -0.0268 0.5794 -0.0795 -0.2908 %! -0.0307 0.5002 -0.0445 -0.4458 %! -0.0508 0.4760 -0.1505 -0.1608 %! -0.0894 0.5679 -0.0875 -0.3133 %! -0.1283 0.7078 0.1175 -0.6508 %! -0.1663 0.7919 0.1845 -0.3833 %! -0.2133 0.8265 0.2345 -0.4483 %! -0.2599 0.8374 0.3125 -0.6758 %! -0.2969 0.8162 0.3435 -0.4808 %! -0.3210 0.7420 0.4165 -0.5058 %! -0.3215 0.5730 0.4795 -0.5808 %! -0.3013 0.2979 0.4085 -0.1883 %! -0.2680 0.0143 0.3635 -0.1408 %! -0.2172 -0.1931 0.2695 -0.1933 %! -0.1568 -0.3482 0.0795 0.1542 %! -0.0990 -0.5055 0.0565 0.0917 %! -0.0475 -0.7178 -0.0035 0.2642 %! -0.0025 -0.9341 -0.0295 0.3692 %! 0.0428 -1.0834 -0.0325 0.2067 %! 0.0814 -1.2097 -0.2115 0.6567 %! 0.1090 -1.3175 -0.1885 0.4517 %! 0.1336 -1.4127 -0.1795 0.3767 %! 0.1445 -1.5065 -0.3165 0.8592 %! 0.1424 -1.5894 -0.2155 0.4442 %! 0.1379 -1.7094 -0.2005 0.5842 %! 0.1194 -1.7628 -0.2475 0.9192 %! 0.0871 -1.6474 -0.1865 0.5092 %! 0.0541 -1.4894 -0.1495 0.4967 %! 0.0205 -1.3807 -0.0495 0.4817 %! -0.0189 -1.3325 -0.0365 0.4492 %! -0.0630 -1.3452 -0.0175 0.4417 %! -0.1055 -1.4067 0.0835 0.4317 %! -0.1473 -1.4711 0.1405 0.6042 %! -0.1886 -1.4663 0.2055 0.4892 %! -0.2252 -1.4405 0.2435 0.5292 %! -0.2545 -1.4530 0.3345 0.5367 %! -0.2726 -1.4790 0.3915 0.4667 %! -0.2804 -1.5291 0.3805 0.6292 %! -0.2800 -1.6064 0.4145 0.5967 %! -0.2711 -1.6577 0.4125 0.6642 %! -0.2543 -1.6503 0.4445 0.6142 %! -0.2332 -1.6413 0.3945 0.6267 %! -0.2186 -1.6598 0.2995 0.8167 %! -0.2105 -1.6905 0.3655 0.6167 %! -0.2016 -1.7773 0.3605 0.6767 %! -0.1990 -1.8767 0.3035 0.8442 %! -0.2109 -1.9359 0.2905 0.8542 %! -0.2309 -1.9978 0.3625 0.8267 %! -0.2464 -2.0725 0.4795 0.7117 %! -0.2598 -2.1566 0.3915 1.0417 %! -0.2729 -2.2060 0.4415 0.9092 %! -0.2729 -2.2146 0.5805 0.6867 %! -0.2651 -2.1907 0.4845 1.0592 %! -0.2563 -2.0544 0.4705 0.7217 %! -0.2420 -1.8793 0.4675 0.5817 %! -0.2313 -1.7438 0.4625 0.7617 %! -0.2284 -1.5795 0.5095 0.4092 %! -0.2306 -1.4005 0.4165 0.4717 %! -0.2380 -1.2226 0.4445 0.3817 %! -0.2426 -1.0615 0.5195 0.1817 %! -0.2387 -0.9443 0.4795 0.2317 %! -0.2262 -0.8374 0.4195 0.1167 %! -0.2090 -0.7585 0.3505 0.1867 %! -0.1902 -0.6965 0.3525 0.1167 %! -0.1702 -0.6160 0.2955 0.0917 %! -0.1530 -0.5535 0.2285 0.1892 %! -0.1379 -0.5331 0.2845 0.0267 %! -0.1232 -0.5745 0.2955 0.1692 %! -0.1141 -0.6693 0.2535 0.3117 %! -0.1051 -0.7692 0.2395 0.2017 %! -0.0888 -0.8714 0.2465 0.3167 %! -0.0706 -0.9784 0.2345 0.4467 %! -0.0576 -1.0470 0.1525 0.4467 %! -0.0533 -1.0386 0.0805 0.4942 %! -0.0564 -0.9563 0.0985 0.4417 %! -0.0595 -0.8278 0.1525 0.2792 %! -0.0590 -0.6936 0.1335 0.2642 %! -0.0571 -0.6112 0.1255 0.2042 %! -0.0560 -0.6221 0.1465 0.1867 %! -0.0570 -0.6806 0.1365 0.2192 %! -0.0627 -0.7056 0.1195 0.1917 %! -0.0791 -0.6703 0.1115 0.3067 %! -0.1047 -0.5488 0.2345 0.1217 %! -0.1276 -0.3868 0.3215 -0.0508 %! -0.1452 -0.2989 0.2885 0.0592 %! -0.1579 -0.3142 0.3435 -0.1133 %! -0.1698 -0.3930 0.3155 0.1142 %! -0.1872 -0.4033 0.3395 0.1592 %! -0.1990 -0.3194 0.4595 -0.2333 %! -0.2078 -0.2826 0.3695 0.1642 %! -0.2264 -0.2406 0.3875 0.1117 %! -0.2433 -0.1958 0.4715 -0.2008 %! -0.2512 -0.2855 0.4245 0.1467 %! -0.2515 -0.4154 0.4715 0.0942 %! -0.2396 -0.5006 0.4585 0.1692 %! -0.2129 -0.5207 0.4565 0.2067 %! -0.1705 -0.4377 0.3985 0.0617 %! -0.1208 -0.3532 0.2195 0.2492 %! -0.0686 -0.3256 0.2095 0.0667 %! -0.0112 -0.3184 0.1815 0.0317 %! 0.0433 -0.3352 0.0535 0.2317 %! 0.0918 -0.4017 -0.0255 0.0992 %! 0.1426 -0.5515 -0.0725 0.1567 %! 0.1971 -0.7994 -0.1095 0.3167 %! 0.2489 -1.0643 -0.2455 0.4467 %! 0.2920 -1.1858 -0.3815 0.4692 %! 0.3209 -1.1632 -0.4625 0.5017 %! 0.3329 -1.1275 -0.5055 0.5192 %! 0.3346 -1.1285 -0.4975 0.3542 %! 0.3295 -1.1701 -0.5175 0.5017 %! 0.3165 -1.1697 -0.4415 0.4092 %! 0.2959 -1.0758 -0.4215 0.3492 %! 0.2624 -0.9392 -0.4725 0.4917 %! 0.2233 -0.7484 -0.3445 0.0942 %! 0.1902 -0.5707 -0.2465 0.1017 %! 0.1574 -0.4626 -0.2065 0.2217 %! 0.1245 -0.3397 -0.1795 -0.0258 %! 0.0987 -0.1692 -0.2115 0.0592 %! 0.0892 0.0685 -0.1245 -0.2233 %! 0.1028 0.3453 -0.1275 -0.3658 %! 0.1273 0.5826 -0.2405 -0.2433 %! 0.1497 0.7764 -0.2575 -0.4733 %! 0.1646 0.9231 -0.3065 -0.4433 %! 0.1718 1.0326 -0.3265 -0.4683 %! 0.1809 1.1361 -0.2795 -0.6558 %! 0.1953 1.2657 -0.2505 -0.6283 %! 0.2050 1.4464 -0.2775 -0.6108 %! 0.2068 1.6188 -0.3545 -0.7183 %! 0.2126 1.7093 -0.3495 -0.9183 %! 0.2281 1.7044 -0.3355 -0.8058 %! 0.2457 1.6703 -0.3325 -0.7608 %! 0.2611 1.6585 -0.3575 -0.9008 %! 0.2661 1.6143 -0.4705 -0.6558 %! 0.2578 1.5015 -0.4585 -0.7583 %! 0.2451 1.2956 -0.4175 -0.8033 %! 0.2207 1.0253 -0.4485 -0.3858 %! 0.1768 0.8074 -0.3655 -0.4483 %! 0.1220 0.6616 -0.2795 -0.4508 %! 0.0620 0.5891 -0.2285 -0.3108 %! 0.0002 0.5812 -0.1485 -0.4083 %! -0.0594 0.5578 -0.0655 -0.3083 %! -0.1114 0.5396 0.0895 -0.3433 %! -0.1434 0.5741 0.2125 -0.4708 %! -0.1458 0.6506 0.2315 -0.4908 %! -0.1214 0.7486 0.1975 -0.5258 %! -0.0806 0.8194 0.1325 -0.4908 %! -0.0301 0.8304 0.0945 -0.5433 %! 0.0299 0.7454 0.0665 -0.5858 %! 0.0900 0.5891 -0.0315 -0.3883 %! 0.1351 0.4885 -0.1265 -0.2783 %! 0.1632 0.4505 -0.1695 -0.3683 %! 0.1762 0.3982 -0.2285 -0.2433 %! 0.1710 0.3510 -0.2465 -0.1358 %! 0.1548 0.3268 -0.1755 -0.2458 %! 0.1398 0.2582 -0.1175 -0.2033 %! 0.1272 0.1084 -0.1365 -0.0433 %! 0.1135 -0.0557 -0.1765 0.0192 %! 0.1006 -0.2035 -0.1505 0.0517 %! 0.0938 -0.3889 -0.0855 0.1217 %! 0.0944 -0.6404 -0.0965 0.2717 %! 0.1026 -0.9610 -0.1245 0.3942 %! 0.1201 -1.2709 -0.1525 0.5192 %! 0.1463 -1.4491 -0.2075 0.6042 %! 0.1781 -1.5392 -0.2885 0.5967 %! 0.2058 -1.5973 -0.4185 0.7367 %! 0.2213 -1.5830 -0.4225 0.7092 %! 0.2301 -1.5379 -0.3435 0.5192 %! 0.2335 -1.5207 -0.3875 0.6617 %! 0.2284 -1.5386 -0.3855 0.6292 %! 0.2245 -1.5724 -0.3055 0.4667 %! 0.2271 -1.5665 -0.2665 0.5442 %! 0.2266 -1.5256 -0.3165 0.5842 %! 0.2127 -1.4837 -0.3835 0.5992 %! 0.1882 -1.4411 -0.2855 0.4917 %! 0.1628 -1.3895 -0.1655 0.4392 %! 0.1359 -1.2722 -0.1825 0.5567 %! 0.1069 -1.0629 -0.1565 0.3892 %! 0.0833 -0.7969 -0.0815 0.2242 %! 0.0679 -0.5100 -0.0695 0.1892 %! 0.0615 -0.2389 -0.1075 -0.0033 %! 0.0664 0.0303 -0.1485 -0.0908 %! 0.0822 0.3079 -0.1295 -0.1783 %! 0.1140 0.5658 -0.1465 -0.4283 %! 0.1627 0.7941 -0.3005 -0.5208 %! 0.2134 0.9634 -0.4675 -0.4783 %! 0.2515 1.0687 -0.5295 -0.5583 %! 0.2738 1.1300 -0.5445 -0.6233 %! 0.2803 1.1322 -0.5615 -0.6283 %! 0.2668 1.0979 -0.5675 -0.5358 %! 0.2311 1.0801 -0.4795 -0.5458 %! 0.1799 1.0888 -0.3715 -0.6558 %! 0.1121 1.1266 -0.4035 -0.4358 %! 0.0311 1.2269 -0.3055 -0.5658 %! -0.0402 1.3304 -0.0415 -0.9458 %! -0.0970 1.3157 0.0015 -0.6333 %! -0.1536 1.2545 -0.0375 -0.5383 %! -0.2054 1.2245 0.0305 -0.7933 %! -0.2445 1.1415 0.1235 -0.5958 %! -0.2725 1.0068 0.2105 -0.5658 %! -0.2878 0.8388 0.2305 -0.5408 %! -0.2910 0.6395 0.2735 -0.3933 %! -0.2874 0.5035 0.3115 -0.3133 %! -0.2779 0.4273 0.2875 -0.2908 %! -0.2564 0.3242 0.2965 -0.3508 %! -0.2262 0.1788 0.3125 -0.1683 %! -0.1995 0.0612 0.3315 -0.0883 %! -0.1818 0.0445 0.2725 -0.1558 %! -0.1738 0.0600 0.1725 -0.0008 %! -0.1659 0.0355 0.2655 -0.2008 %! -0.1461 -0.0219 0.3315 -0.2508 %! -0.1285 -0.0978 0.1775 0.1717 %! -0.1227 -0.0947 0.1175 -0.0583 %! -0.1180 0.0203 0.1475 -0.2958 %! -0.1209 0.1808 0.0885 -0.0583 %! -0.1447 0.3916 0.0655 -0.2633 %! -0.1867 0.6153 0.1075 -0.3983 %! -0.2364 0.7858 0.2675 -0.4633 %! -0.2797 0.8695 0.3975 -0.6508 %! -0.3113 0.8415 0.3245 -0.4733 %! -0.3328 0.7698 0.3295 -0.4683 %! -0.3393 0.6590 0.4225 -0.5358 %! -0.3336 0.4096 0.3615 -0.2583 %! -0.3268 0.0623 0.2565 -0.0833 %! -0.3236 -0.2521 0.2545 0.0217 %! -0.3274 -0.4415 0.3015 0.1842 %! -0.3401 -0.4715 0.3165 0.1442 %! -0.3613 -0.3861 0.2875 0.1192 %! -0.3928 -0.2126 0.3465 0.1017 %! -0.4270 0.0263 0.5095 -0.1383 %! -0.4483 0.2006 0.5895 -0.2933 %! -0.4524 0.2266 0.5585 -0.1858 %! -0.4430 0.1870 0.5985 -0.2108 %! -0.4182 0.1108 0.6425 -0.2158 %! -0.3771 -0.0376 0.5545 -0.0483 %! -0.3187 -0.1650 0.4475 -0.0533 %! -0.2411 -0.2002 0.3935 -0.0583 %! -0.1509 -0.2036 0.2985 0.0642 %! 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0.1629 -0.3218 -0.1705 0.1792 %! 0.2469 -0.1316 -0.2225 -0.0458 %! 0.3188 0.0698 -0.4895 0.0292 %! 0.3657 0.2711 -0.6915 -0.0558 %! 0.3947 0.3881 -0.6545 -0.3083 %! 0.4166 0.3752 -0.6155 -0.2233 %! 0.4322 0.3157 -0.6895 -0.1933 %! 0.4374 0.2851 -0.8475 -0.1083 %! 0.4346 0.2856 -0.8755 -0.1283 %! 0.4354 0.2982 -0.8335 -0.3133 %! 0.4374 0.3127 -0.9455 -0.0808 %! 0.4289 0.3315 -0.9695 -0.0958 %! 0.4117 0.3484 -0.8695 -0.2483 %! 0.3875 0.3695 -0.8635 -0.1233 %! 0.3534 0.4046 -0.8965 -0.2008 %! 0.3109 0.4103 -0.8595 -0.2033 %! 0.2621 0.3735 -0.6865 -0.1533 %! 0.2091 0.3471 -0.5615 -0.1958 %! 0.1487 0.3500 -0.6085 -0.0883 %! 0.0755 0.4095 -0.5965 -0.0558 %! -0.0007 0.5566 -0.3735 -0.2433 %! -0.0624 0.7375 -0.1545 -0.3708 %! -0.1055 0.9106 -0.1155 -0.3558 %! -0.1340 1.0728 -0.0775 -0.4608 %! -0.1476 1.2037 -0.0005 -0.5433 %! -0.1445 1.3093 0.0225 -0.5708 %! -0.1205 1.4124 0.0125 -0.6983 %! -0.0755 1.5512 -0.0005 -0.7383 %! -0.0197 1.7541 -0.0045 -0.7633 %! 0.0390 1.9343 -0.0825 -0.9433 %! 0.0935 1.9883 -0.2615 -0.9758 %! 0.1276 1.9447 -0.3705 -0.8358 %! 0.1302 1.8773 -0.3225 -0.8033 %! 0.1103 1.7874 -0.2095 -0.9333 %! 0.0776 1.6447 -0.2025 -0.8183 %! 0.0259 1.5027 -0.2675 -0.5433 %! -0.0390 1.4181 -0.1615 -0.7108 %! -0.0957 1.2941 -0.0355 -0.7858 %! -0.1442 1.0659 -0.0665 -0.4158 %! -0.1955 0.8406 -0.0395 -0.3733 %! -0.2470 0.6814 0.0665 -0.4008 %! -0.2951 0.5478 0.1495 -0.2533 %! -0.3391 0.4030 0.1875 -0.2308 %! -0.3757 0.2509 0.2445 -0.1508 %! -0.3997 0.0973 0.4195 -0.1908 %! -0.4133 -0.1007 0.4435 0.0092 %! -0.4258 -0.3112 0.3315 0.2217 %! -0.4290 -0.4816 0.4055 0.0417 %! -0.4116 -0.6439 0.5125 0.1667 %! -0.3855 -0.7518 0.4715 0.3892 %! -0.3658 -0.8248 0.3845 0.3667 %! -0.3557 -0.9450 0.3525 0.4867 %! -0.3478 -1.0281 0.4715 0.4367 %! -0.3283 -1.0926 0.5655 0.3717 %! -0.2970 -1.2113 0.4865 0.5767 %! -0.2629 -1.3095 0.4455 0.5692 %! -0.2277 -1.4162 0.4285 0.5542 %! -0.1940 -1.5722 0.2955 0.7242 %! -0.1658 -1.7209 0.1985 0.7442 %! -0.1448 -1.8574 0.2275 0.7892 %! -0.1375 -1.9598 0.2405 0.9342 %! -0.1496 -1.9831 0.1605 0.9617 %! -0.1754 -1.9571 0.0975 0.8592 %! -0.2079 -1.9523 0.1425 0.9042 %! -0.2432 -1.9481 0.2485 0.9167 %! -0.2732 -1.8977 0.2955 0.8142 %! -0.2909 -1.8860 0.2895 0.8067 %! -0.2993 -1.9321 0.2625 0.8917 %! -0.3030 -1.9254 0.2225 0.9267 %! -0.2944 -1.8378 0.2495 0.7292 %! -0.2680 -1.7114 0.2665 0.6842 %! -0.2381 -1.6035 0.2105 0.8692 %! -0.2142 -1.5457 0.1815 0.7167 %! -0.1883 -1.5002 0.1355 0.6142 %! -0.1554 -1.4121 0.0995 0.6692 %! -0.1165 -1.2429 0.1295 0.4617 %! -0.0822 -1.0065 0.0435 0.5217 %! -0.0685 -0.7615 -0.0505 0.5117 %! -0.0718 -0.5596 -0.0245 0.1767 %! -0.0823 -0.4178 -0.0155 0.2067 %! -0.0983 -0.3206 0.0595 0.2192 %! -0.1120 -0.2728 0.1795 0.0367 %! -0.1158 -0.3035 0.2005 0.0992 %! -0.1137 -0.4179 0.1345 0.2017 %! -0.1111 -0.5628 0.0385 0.2992 %! -0.1055 -0.6991 0.0785 0.2917 %! -0.0926 -0.8462 0.1725 0.3192 %! -0.0805 -0.9604 0.1215 0.4942 %! -0.0829 -0.9911 0.0025 0.5617 %! -0.0989 -0.9748 0.0055 0.4517 %! -0.1198 -0.9313 0.0895 0.3517 %! -0.1470 -0.8188 0.0865 0.4717 %! -0.1825 -0.5767 0.1175 0.3517 %! -0.2078 -0.2504 0.2775 -0.1133 %! -0.2118 0.0583 0.2575 -0.1083 %! -0.2050 0.3599 0.1075 -0.1258 %! -0.1866 0.6426 0.1025 -0.5283 %! -0.1520 0.8930 0.1295 -0.5483 %! -0.1091 1.1596 0.1155 -0.6283 %! -0.0649 1.3843 -0.0185 -0.8033 %! -0.0246 1.5324 -0.1305 -0.8133 %! 0.0046 1.6659 -0.1205 -0.8933 %! 0.0178 1.7974 -0.1815 -0.8083 %! 0.0241 1.8634 -0.1665 -0.9808 %! 0.0406 1.7408 -0.1085 -1.0333 %! 0.0601 1.4745 -0.2045 -0.5733 %! 0.0706 1.2181 -0.2795 -0.5683 %! 0.0761 0.9181 -0.3655 -0.4383 %! 0.0813 0.5557 -0.3455 -0.1333 %! 0.0948 0.1924 -0.1705 -0.2608 %! 0.1104 -0.2105 -0.2785 0.2767 %! 0.1106 -0.5572 -0.3925 0.5542 %! 0.1075 -0.7736 -0.2685 0.2067 %! 0.1162 -0.9587 -0.2095 0.4942 %! 0.1310 -1.0968 -0.1835 0.5617 %! 0.1419 -1.1625 -0.2115 0.5117 %! 0.1387 -1.1825 -0.2185 0.6392 %! 0.1236 -1.1781 -0.1115 0.3592 %! 0.1019 -1.2740 -0.1395 0.5267 %! 0.0726 -1.4467 -0.0835 0.6167 %! 0.0408 -1.5448 0.1065 0.4117 %! 0.0016 -1.5764 0.0855 0.7292 %! -0.0515 -1.5247 0.0165 0.6792 %! -0.0978 -1.3839 0.1515 0.2642 %! -0.1198 -1.2895 0.3075 0.3542 %! -0.1232 -1.2714 0.3285 0.4542 %! -0.1137 -1.2652 0.2525 0.3392 %! -0.0937 -1.2585 0.1695 0.4317 %! -0.0676 -1.2220 0.1545 0.4642 %! -0.0336 -1.1269 0.1285 0.2617 %! 0.0051 -0.9943 0.0255 0.3567 %! 0.0358 -0.8408 -0.0185 0.3917 %! 0.0583 -0.6968 -0.0065 0.1442 %! 0.0780 -0.6212 -0.1115 0.1767 %! 0.0897 -0.6090 -0.2035 0.2367 %! 0.0864 -0.6100 -0.1845 0.2517 %! 0.0693 -0.5884 -0.0925 0.3142 %! 0.0521 -0.5452 0.0195 0.0817 %! 0.0422 -0.5450 -0.0485 0.2167 %! 0.0304 -0.5974 -0.0775 0.3592 %! 0.0179 -0.6380 0.0365 0.1317 %! 0.0090 -0.6589 0.0385 0.3142 %! 0.0029 -0.6802 0.0675 0.3042 %! 0.0083 -0.7241 0.1465 0.1517 %! 0.0292 -0.8090 0.1455 0.3517 %! 0.0665 -0.9103 0.1315 0.2267 %! 0.1175 -0.9751 -0.0355 0.3342 %! 0.1700 -0.9540 -0.1515 0.4492 %! 0.2239 -0.8772 -0.1285 0.1217 %! 0.2782 -0.7929 -0.2845 0.2592 %! 0.3202 -0.6856 -0.4145 0.2367 %! 0.3485 -0.5863 -0.4115 -0.0058 %! 0.3620 -0.5588 -0.4445 0.1667 %! 0.3588 -0.6270 -0.4405 0.1317 %! 0.3445 -0.7807 -0.4595 0.1717 %! 0.3223 -0.9466 -0.4315 0.3642 %! 0.2962 -1.0383 -0.3285 0.3042 %! 0.2693 -1.0274 -0.3485 0.3917 %! 0.2392 -0.9591 -0.3755 0.3742 %! 0.2038 -0.9085 -0.3265 0.3042 %! 0.1593 -0.8824 -0.2615 0.4042 %! 0.1061 -0.8394 -0.1675 0.3567 %! 0.0545 -0.7459 -0.0505 0.2442 %! 0.0122 -0.6037 0.0655 0.1592 %! -0.0254 -0.4611 0.0855 0.2192 %! -0.0626 -0.3247 0.0695 0.1617 %! -0.0875 -0.1777 0.1505 -0.1158 %! -0.0905 -0.0481 0.2245 -0.0983 %! -0.0766 0.0802 0.2345 -0.1633 %! -0.0549 0.2306 0.1405 -0.2558 %! -0.0366 0.3284 0.0435 -0.1458 %! -0.0207 0.3329 0.1075 -0.3483 %! 0.0026 0.3131 0.1475 -0.3983 %! 0.0262 0.3154 0.1045 -0.1858 %! 0.0400 0.3280 0.0795 -0.2658 %! 0.0476 0.3332 0.0685 -0.3658 %! 0.0513 0.3067 0.0155 -0.3033 %! 0.0436 0.2422 -0.0525 -0.2133 %! 0.0191 0.1745 -0.0125 -0.1783 %! -0.0154 0.1173 0.1125 -0.2333 %! -0.0520 0.0566 0.1405 -0.1883 %! -0.0912 -0.0241 0.1125 -0.1083 %! -0.1337 -0.1957 0.1615 -0.0583 %! -0.1775 -0.4680 0.2625 0.0967 %! -0.2182 -0.7258 0.3555 0.1792 %! -0.2523 -0.9660 0.3795 0.3267 %! 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0.1559 -0.2334 -0.2045 -0.0283 %! 0.1806 -0.4327 -0.3215 0.2567 %! 0.1940 -0.5798 -0.3475 0.2092 %! 0.2039 -0.6991 -0.3195 0.1717 %! 0.2138 -0.7922 -0.3635 0.3517 %! 0.2221 -0.8503 -0.4145 0.3267 %! 0.2299 -0.9164 -0.4665 0.3792 %! 0.2400 -0.9682 -0.4465 0.3692 %! 0.2545 -1.0512 -0.4625 0.3767 %! 0.2670 -1.2018 -0.5555 0.6217 %! 0.2737 -1.3174 -0.5085 0.5317 %! 0.2764 -1.4090 -0.4815 0.6092 %! 0.2693 -1.5248 -0.5265 0.8217 %! 0.2531 -1.6471 -0.4865 0.6892 %! 0.2321 -1.8015 -0.4525 0.8867 %! 0.2056 -1.9496 -0.3925 1.0067 %! 0.1804 -2.0230 -0.3695 0.8967 %! 0.1599 -1.9852 -0.4155 1.0367 %! 0.1436 -1.8214 -0.3455 0.8392 %! 0.1329 -1.6423 -0.3275 0.7317 %! 0.1199 -1.5459 -0.3995 0.8667 %! 0.1026 -1.4838 -0.3475 0.6542 %! 0.0885 -1.4278 -0.2525 0.5967 %! 0.0761 -1.3787 -0.2145 0.6842 %! 0.0645 -1.2595 -0.1895 0.5417 %! 0.0588 -1.0485 -0.1635 0.3892 %! 0.0552 -0.8090 -0.1595 0.4317 %! 0.0479 -0.5480 -0.1485 0.2867 %! 0.0420 -0.3196 -0.1045 0.0467 %! 0.0378 -0.2052 -0.0815 0.0967 %! 0.0258 -0.1789 -0.0605 0.0942 %! 0.0006 -0.2476 -0.0715 0.1042 %! -0.0359 -0.4128 -0.0735 0.2417 %! -0.0730 -0.6137 0.0265 0.2317 %! -0.0993 -0.8314 0.0895 0.3617 %! -0.1153 -0.9895 0.0605 0.5417 %! -0.1249 -1.0287 -0.0115 0.6092 %! -0.1250 -1.0177 -0.0275 0.5817 %! -0.1093 -0.9871 0.0055 0.4892 %! -0.0832 -0.9130 -0.0565 0.6292 %! -0.0526 -0.8006 -0.0585 0.5317 %! -0.0077 -0.7273 0.0065 0.2742 %! 0.0553 -0.7710 -0.0665 0.4267 %! 0.1270 -0.9222 -0.1935 0.4617 %! 0.1985 -1.1668 -0.3345 0.6017 %! 0.2688 -1.4234 -0.3835 0.6767 %! 0.3422 -1.5956 -0.4405 0.5992 %! 0.4068 -1.7452 -0.6875 0.9367 %! 0.4443 -1.9072 -0.8405 0.9867 %! 0.4553 -2.0635 -0.8345 0.9092 %! 0.4476 -2.2464 -0.8135 1.0567 %! 0.4252 -2.4329 -0.7825 1.0967 %! 0.3876 -2.5541 -0.7555 1.2767 %! 0.3383 -2.5291 -0.6055 1.1367 %! 0.2853 -2.3477 -0.5295 1.0567 %! 0.2304 -2.0738 -0.5415 1.0692 %! 0.1821 -1.7182 -0.3605 0.5542 %! 0.1429 -1.3468 -0.2425 0.5842 %! 0.1032 -1.0234 -0.2025 0.4742 %! 0.0679 -0.7153 -0.1825 0.0467 %! 0.0414 -0.4370 -0.1845 0.1467 %! 0.0237 -0.2054 -0.0365 -0.1708 %! 0.0103 -0.0543 -0.0845 -0.1233 %! -0.0138 -0.0096 -0.1945 0.1042 %! -0.0442 0.0084 -0.0665 -0.3308 %! -0.0775 0.0274 -0.0545 -0.0058 %! -0.1239 0.0529 -0.0365 0.0892 %! -0.1740 0.1041 0.0725 -0.2208 %! -0.2155 0.1382 0.1855 0.0092 %! -0.2412 0.1550 0.3675 -0.2133 %! -0.2493 0.1734 0.3055 -0.1183 %! -0.2515 0.2194 0.2315 0.0167 %! -0.2507 0.3222 0.3455 -0.2983 %! -0.2498 0.4421 0.3345 -0.1158 %! -0.2534 0.5567 0.3655 -0.2708 %! -0.2559 0.6360 0.3995 -0.3958 %! -0.2582 0.6567 0.4175 -0.2383 %! -0.2604 0.6446 0.4565 -0.4358 %! -0.2618 0.5815 0.3395 -0.2633 %! -0.2665 0.5052 0.3425 -0.2233 %! -0.2708 0.5100 0.4235 -0.3608 %! -0.2728 0.6079 0.3875 -0.2883 %! -0.2742 0.7203 0.3615 -0.4683 %! -0.2795 0.7793 0.3085 -0.3733 %! -0.2924 0.8673 0.3805 -0.4158 %! -0.3020 0.9995 0.5025 -0.6983 %! -0.3037 1.0591 0.4755 -0.5208 %! -0.3040 1.0871 0.5245 -0.5933 %! -0.3049 1.1507 0.5525 -0.6233 %! -0.3058 1.2644 0.5195 -0.6358 %! -0.3004 1.4334 0.4955 -0.8358 %! -0.2875 1.5499 0.4055 -0.6808 %! -0.2652 1.5844 0.4605 -0.8508 %! 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0.0231 -2.0740 -0.0975 0.8967 %! 0.0388 -2.0445 -0.1065 0.8617 %! 0.0597 -1.9906 -0.1435 1.0067 %! 0.0807 -1.9170 -0.1825 0.8017 %! 0.0969 -1.8479 -0.3205 0.9292 %! 0.1029 -1.7495 -0.3275 0.8542 %! 0.1043 -1.6604 -0.2355 0.6392 %! 0.1001 -1.6211 -0.2395 0.8142 %! 0.0841 -1.5806 -0.2095 0.7817 %! 0.0630 -1.5319 -0.1415 0.6667 %! 0.0489 -1.5022 -0.0715 0.6367 %! 0.0469 -1.4700 -0.0835 0.6692 %! 0.0566 -1.3234 -0.1335 0.6092 %! 0.0811 -1.0251 -0.0935 0.2617 %! 0.1115 -0.7103 -0.2095 0.3017 %! 0.1288 -0.4227 -0.3555 0.2692 %! 0.1352 -0.1704 -0.2835 -0.2308 %! 0.1320 -0.0594 -0.2505 -0.0183 %! 0.1065 -0.0067 -0.2275 0.0967 %! 0.0680 0.1685 -0.1365 -0.3083 %! 0.0335 0.4148 -0.0715 -0.3258 %! 0.0049 0.5997 -0.0175 -0.3758 %! -0.0195 0.7006 -0.0445 -0.4033 %! -0.0351 0.7637 -0.0225 -0.4233 %! -0.0299 0.8425 0.0905 -0.6383 %! -0.0055 0.9276 0.0615 -0.5283 %! 0.0178 1.0462 -0.0975 -0.3783 %! 0.0368 1.2729 -0.1145 -0.6858 %! 0.0674 1.4969 -0.0265 -0.9283 %! 0.1083 1.6066 -0.1025 -0.7658 %! 0.1448 1.7228 -0.2695 -0.7558 %! 0.1778 1.9169 -0.3095 -1.0808 %! 0.2111 2.1262 -0.3605 -1.0633 %! 0.2372 2.3387 -0.4795 -1.0733 %! 0.2550 2.5757 -0.5415 -1.3358 %! 0.2666 2.7617 -0.4935 -1.4108 %! 0.2636 2.7910 -0.4535 -1.3158 %! 0.2380 2.7246 -0.5335 -1.2708 %! 0.1975 2.6043 -0.4965 -1.3383 %! 0.1524 2.3566 -0.3465 -1.1458 %! 0.1037 2.0830 -0.2385 -0.9383 %! 0.0570 1.8917 -0.1875 -1.0133 %! 0.0150 1.7363 -0.2315 -0.7908 %! -0.0242 1.6378 -0.1455 -0.8158 %! -0.0589 1.5875 -0.0665 -0.9083 %! -0.0979 1.5152 -0.1345 -0.6183 %! -0.1459 1.4203 -0.0325 -0.7233 %! -0.1901 1.3044 0.1315 -0.7433 %! -0.2209 1.1849 0.2195 -0.6183 %! -0.2339 1.0649 0.2275 -0.6983 %! -0.2355 0.9365 0.1425 -0.4533 %! -0.2337 0.8784 0.1855 -0.4658 %! -0.2214 0.8990 0.2485 -0.6558 %! -0.1964 0.9349 0.1745 -0.5258 %! -0.1659 0.9811 0.1785 -0.6333 %! -0.1372 0.9916 0.1725 -0.5783 %! -0.1158 0.9395 0.1425 -0.5083 %! -0.0970 0.8657 0.1345 -0.6183 %! -0.0792 0.8086 0.0965 -0.4358 %! -0.0657 0.8370 0.1385 -0.4958 %! -0.0552 0.9112 0.1155 -0.5783 %! -0.0518 0.9266 -0.0175 -0.4133 %! -0.0560 0.9192 -0.0425 -0.5208 %! -0.0578 0.8932 0.0005 -0.5783 %! -0.0564 0.8007 -0.0235 -0.4083 %! -0.0591 0.6940 -0.0925 -0.3358 %! -0.0655 0.6191 -0.1015 -0.3833 %! -0.0735 0.5441 -0.0995 -0.2783 %! -0.0841 0.4197 -0.1085 -0.1608 %! -0.0892 0.2639 -0.0675 -0.2483 %! -0.0801 0.1240 -0.0085 -0.2133 %! -0.0661 -0.0027 -0.0185 -0.0408 %! -0.0647 -0.0929 -0.1255 0.0367 %! -0.0828 -0.1350 -0.1705 0.0342 %! -0.1111 -0.1750 -0.0195 -0.0983 %! -0.1424 -0.2431 0.1145 -0.0458 %! -0.1823 -0.3343 0.1235 0.1642 %! -0.2282 -0.4034 0.1845 0.0017 %! -0.2684 -0.4463 0.2355 0.0017 %! -0.3042 -0.4858 0.2235 0.1692 %! -0.3374 -0.5038 0.2585 0.0742 %! -0.3619 -0.5260 0.3695 0.0692 %! -0.3751 -0.5692 0.4925 0.0867 %! -0.3804 -0.6271 0.4655 0.1342 %! -0.3838 -0.6946 0.3635 0.2492 %! -0.3849 -0.7012 0.4405 0.1317 %! -0.3802 -0.6456 0.5245 0.1767 %! -0.3685 -0.5710 0.5145 0.1717 %! -0.3432 -0.4960 0.4965 -0.0458 %! -0.3091 -0.5027 0.3875 0.1642 %! -0.2816 -0.5650 0.2855 0.2767 %! -0.2575 -0.6307 0.2745 0.0492 %! -0.2333 -0.7767 0.2115 0.3092 %! -0.2177 -0.9320 0.2115 0.4467 %! -0.2103 -0.9808 0.2295 0.3017 %! -0.2077 -0.9820 0.1235 0.4517 %! -0.2091 -0.9672 0.0925 0.4017 %! -0.2067 -0.9320 0.1505 0.2667 %! -0.1964 -0.9354 0.1875 0.3117 %! -0.1862 -1.0067 0.1385 0.4092 %! -0.1835 -1.1249 0.0845 0.4417 %! -0.1878 -1.2659 0.1145 0.4717 %! -0.1971 -1.4192 0.1755 0.5892 %! -0.2082 -1.5634 0.2345 0.5917 %! -0.2205 -1.6030 0.2205 0.7092 %! -0.2334 -1.4712 0.2515 0.5992 %! -0.2378 -1.2802 0.2915 0.3067 %! -0.2371 -1.1340 0.1805 0.4742 %! -0.2418 -1.0239 0.1895 0.3717 %! -0.2467 -0.9961 0.2855 0.1917 %! -0.2506 -1.0394 0.2625 0.4892 %! -0.2481 -1.0708 0.3205 0.2867 %! -0.2255 -1.1285 0.3115 0.2942 %! -0.1851 -1.2190 0.2515 0.5392 %! -0.1284 -1.2780 0.2205 0.3617 %! -0.0568 -1.3066 0.0485 0.4992 %! 0.0190 -1.3093 -0.0745 0.5842 %! 0.0980 -1.3169 -0.0975 0.3817 %! 0.1790 -1.3629 -0.1905 0.4917 %! 0.2470 -1.3928 -0.3335 0.5942 %! 0.2906 -1.3799 -0.4495 0.5667 %! 0.3119 -1.3872 -0.4345 0.4267 %! 0.3070 -1.4366 -0.4805 0.6267 %! 0.2694 -1.4497 -0.5195 0.7092 %! 0.2157 -1.4180 -0.3445 0.3267 %! 0.1572 -1.4131 -0.2795 0.5917 %! 0.0900 -1.4020 -0.2475 0.6467 %! 0.0252 -1.3726 -0.1455 0.2942 %! -0.0329 -1.3701 -0.1075 0.5992 %! -0.0863 -1.3388 0.0435 0.4792 %! -0.1235 -1.2708 0.1565 0.2142 %! -0.1478 -1.2320 0.1245 0.4817 %! -0.1728 -1.2034 0.1555 0.4392 %! -0.1952 -1.1628 0.2365 0.2667 %! -0.2103 -1.1065 0.2765 0.3317 %! -0.2217 -0.9840 0.3265 0.2767 %! -0.2321 -0.8129 0.3975 0.1317 %! -0.2489 -0.6673 0.3905 0.1867 %! -0.2823 -0.5045 0.3435 0.2217 %! -0.3208 -0.2971 0.4725 -0.1183 %! -0.3473 -0.1283 0.6145 -0.1808 %! -0.3655 0.0017 0.6595 -0.0633 %! -0.3824 0.1148 0.6585 -0.2158 %! -0.3984 0.1791 0.6025 -0.1708 %! -0.4094 0.2068 0.6665 -0.2083 %! -0.4057 0.1834 0.7515 -0.2908 %! -0.3881 0.1013 0.7285 -0.1283 %! -0.3652 0.0076 0.6865 -0.0358 %! -0.3341 -0.0852 0.6455 -0.0683 %! -0.2841 -0.1695 0.5685 -0.0783 %! -0.2157 -0.2379 0.4245 0.0317 %! -0.1411 -0.3204 0.2975 0.1167 %! -0.0709 -0.4622 0.1965 0.1842 %! -0.0090 -0.6683 0.0635 0.2967 %! 0.0471 -0.8651 -0.0275 0.2617 %! 0.0923 -0.9752 -0.1435 0.4992 %! 0.1202 -0.9762 -0.1835 0.5592 %! 0.1442 -0.9324 -0.0975 0.1967 %! 0.1675 -0.9128 -0.2015 0.4142 %! 0.1732 -0.8419 -0.3305 0.5317 %! 0.1625 -0.6695 -0.2815 0.1442 %! 0.1441 -0.4938 -0.2375 0.1892 ]; %! %! DAT = iddata (UY(:, 3:4), UY(:, 1:2)); %! %! [SYS, X0] = moen4 (DAT, "s", 15, "n", 8, "rcond", 0.0, "tol", -1.0); %! %! Ae = [ 0.9893 0.0081 -0.0844 0.0299 0.1262 0.0815 -0.0379 0.1779 %! 0.0076 0.9694 0.1352 0.1793 0.0965 -0.1041 -0.0373 -0.0045 %! 0.0018 -0.0115 0.9413 -0.3450 0.1674 0.0302 -0.1098 -0.0087 %! 0.0036 -0.0197 0.1766 0.6550 -0.1178 0.6168 0.0028 0.0085 %! -0.0010 -0.0032 -0.0507 0.0624 0.9293 -0.0034 0.0229 -0.4511 %! 0.0032 -0.0012 -0.0397 0.1255 0.1578 0.1833 0.7586 0.3125 %! 0.0029 -0.0048 0.0422 0.2343 0.0321 -0.6549 -0.0374 0.2232 %! -0.0036 0.0028 0.0080 -0.2437 0.1074 0.1599 -0.1012 0.2106 ]; %! %! Ce = [ -0.2226 0.2072 -0.3129 -0.3937 0.1722 0.3232 -0.2113 0.2928 %! -0.1680 -0.2205 0.0698 0.4049 0.3210 -0.1143 -0.2451 0.4844 ]; %! %! Be = [ 0.0857 0.0026 %! -0.6433 -0.0314 %! 0.2445 0.0044 %! 1.8942 0.0488 %! 0.0549 0.0151 %! -2.2093 -0.0622 %! -2.5072 -0.0925 %! 0.8189 0.0280 ]; %! %! De = [ -0.4997 0.0451 %! -1.0011 -0.5567 ]; %! %!assert (SYS.A, Ae, 1e-4); %!assert (SYS.B, Be, 1e-4); %!assert (SYS.C, Ce, 1e-4); %!assert (SYS.D, De, 1e-4); control-3.2.0/inst/PaxHeaders.3947/append.m0000644000000000000000000000013213450727360015270 xustar0030 mtime=1554231024.433422676 30 atime=1554231024.433422676 30 ctime=1554231028.525576056 control-3.2.0/inst/append.m0000644000175000017500000000221113450727360015525 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} append (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}) ## Group @acronym{LTI} models by appending their inputs and outputs. ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function sys = append (varargin) if (nargin == 0) print_usage (); endif sys = blkdiag (varargin{:}); endfunction control-3.2.0/inst/PaxHeaders.3947/__modred_check_equil__.m0000644000000000000000000000013213450727360020423 xustar0030 mtime=1554231024.385420844 30 atime=1554231024.385420844 30 ctime=1554231028.525576056 control-3.2.0/inst/__modred_check_equil__.m0000644000175000017500000000211413450727360020662 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## check equilibration for model reduction commands ## Author: Lukas Reichlin ## Created: November 2011 ## Version: 0.1 function scaled = __modred_check_equil__ (equil) if (isscalar (equil)) scaled = ! logical (equil); else error ("modred: property 'equil' must be a logical value"); endif endfunction control-3.2.0/inst/PaxHeaders.3947/ltimodels.m0000644000000000000000000000013213450727360016015 xustar0030 mtime=1554231024.541426799 30 atime=1554231024.541426799 30 ctime=1554231028.525576056 control-3.2.0/inst/ltimodels.m0000644000175000017500000005352313450727360016266 0ustar00olafolaf00000000000000## Copyright (C) 2009 Luca Favatella ## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} test ltimodels ## @deftypefnx {Function File} ltimodels ## @deftypefnx {Function File} ltimodels (@var{systype}) ## Test suite and help for @acronym{LTI} models. ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 0.2 function ltimodels (systype = "general") %if (nargin > 1) print_usage (); %endif ## TODO: write documentation if (! ischar (systype)) error ("ltimodels: argument must be a string"); endif systype = lower (systype); switch (systype) case "ss" str = {"State Space (SS) Models"... "-----------------------"... ""}; case "tf" str = {"Transfer Function (TF) Models"... "-----------------------------"... ""}; otherwise # general str = {"Linear Time Invariant (LTI) Models"... "----------------------------------"... ""}; endswitch disp (""); disp (char (str)); endfunction ## ============================================================================== ## LTI Tests ## ============================================================================== ## isct, isdt %!shared ltisys %! ltisys = tf (12); %!assert (ltisys.ts, -2); %!assert (isct (ltisys)); %!assert (isdt (ltisys)); %!shared ltisys %! ltisys = ss (17); %!assert (ltisys.ts, -2); %!assert (isct (ltisys)); %!assert (isdt (ltisys)); %!shared ltisys %! ltisys = tf (1, [1 1]); %!assert (ltisys.ts, 0); %!assert (isct (ltisys)); %!assert (! isdt (ltisys)); %!shared ltisys, ts %! ts = 0.1; %! ltisys = ss (-1, 1, 1, 0, ts); %!assert (ltisys.ts, ts); %!assert (! isct (ltisys)); %!assert (isdt (ltisys)); ## ============================================================================== ## TF Tests ## ============================================================================== ## ============================================================================== ## SS Tests ## ============================================================================== ## staircase (SLICOT AB01OD) %!shared Ac, Bc, Ace, Bce %! A = [ 17.0 24.0 1.0 8.0 15.0 %! 23.0 5.0 7.0 14.0 16.0 %! 4.0 6.0 13.0 20.0 22.0 %! 10.0 12.0 19.0 21.0 3.0 %! 11.0 18.0 25.0 2.0 9.0 ]; %! %! B = [ -1.0 -4.0 %! 4.0 9.0 %! -9.0 -16.0 %! 16.0 25.0 %! -25.0 -36.0 ]; %! %! tol = 0; %! %! A = A.'; # There's a little mistake in the example %! # program of routine AB01OD in SLICOT 5.0 %! %! [Ac, Bc, U, ncont] = __sl_ab01od__ (A, B, tol); %! %! Ace = [ 12.8848 3.2345 11.8211 3.3758 -0.8982 %! 4.4741 -12.5544 5.3509 5.9403 1.4360 %! 14.4576 7.6855 23.1452 26.3872 -29.9557 %! 0.0000 1.4805 27.4668 22.6564 -0.0072 %! 0.0000 0.0000 -30.4822 0.6745 18.8680 ]; %! %! Bce = [ 31.1199 47.6865 %! 3.2480 0.0000 %! 0.0000 0.0000 %! 0.0000 0.0000 %! 0.0000 0.0000 ]; %! %!assert <45008> (Ac, Ace, 1e-4); %!assert (Bc, Bce, 1e-4); ## controllability staircase form of descriptor state-space models (SLICOT TG01HD) %!shared ac, ec, bc, cc, q, z, ncont, ac_e, ec_e, bc_e, cc_e, q_e, z_e, ncont_e %! %! a = [ 2 0 2 0 -1 3 1 %! 0 1 0 0 1 0 0 %! 0 0 0 1 0 0 1 %! 0 0 2 0 -1 3 1 %! 0 0 0 1 0 0 1 %! 0 1 0 0 1 0 0 %! 0 0 0 1 0 0 1 ]; %! %! e = [ 0 0 1 0 0 0 0 %! 0 0 0 0 0 1 0 %! 0 0 0 0 0 0 1 %! 0 0 0 0 0 0 1 %! 0 0 0 1 0 0 0 %! 0 0 1 0 -1 0 0 %! 1 3 0 2 0 0 0 ]; %! %! b = [ 2 1 0 %! 0 0 0 %! 0 0 0 %! 0 0 0 %! 0 0 0 %! 0 0 0 %! 1 2 3 ]; %! %! c = [ 1 0 0 1 0 0 1 %! 0 -1 1 0 -1 1 0 ]; %! %! tol = 0; %! %! [ac, ec, bc, cc, q, z, ncont] = __sl_tg01hd__ (a, e, b, c, tol); %! %! ncont_e = 3; %! %! ac_e = [ 0.0000 0.0000 0.0000 0.0000 -1.2627 0.4334 0.4666 %! 0.0000 2.0000 0.0000 -3.7417 -0.8520 0.2924 -0.4342 %! 0.0000 0.0000 1.7862 0.3780 -0.2651 -0.7723 0.0000 %! 0.0000 0.0000 0.0000 3.7417 0.8520 -0.2924 0.4342 %! 0.0000 0.0000 0.0000 0.0000 -1.5540 0.5334 0.5742 %! 0.0000 0.0000 0.0000 0.0000 -0.6533 0.2242 0.2414 %! 0.0000 0.0000 0.0000 0.0000 -0.5892 0.2022 0.2177 ]; %! %! ec_e = [ -1.8325 1.0000 2.3752 0.0000 -0.8214 0.2819 1.8016 %! 0.4887 0.0000 0.3770 -0.5345 0.1874 0.5461 0.0000 %! -0.1728 0.0000 -0.1333 -1.1339 0.1325 0.3861 0.0000 %! 0.0000 0.0000 0.0000 0.0000 0.8520 -0.2924 0.4342 %! 0.0000 0.0000 0.0000 0.0000 -1.0260 -0.1496 0.0000 %! 0.0000 0.0000 0.0000 0.0000 0.0000 1.1937 0.0000 %! 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 ]; %! %! bc_e = [ 1.0000 2.0000 3.0000 %! 2.0000 1.0000 0.0000 %! 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 ]; %! %! cc_e = [ 0.0000 1.0000 0.0000 0.0000 -1.2627 0.4334 0.4666 %! 0.3665 0.0000 -0.9803 -1.6036 0.1874 0.5461 0.0000 ]; %! %! q_e = [ 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.7071 0.0000 0.2740 -0.6519 0.0000 %! 0.0000 0.0000 0.0000 0.0000 0.8304 0.3491 -0.4342 %! 0.0000 0.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 0.0000 0.4003 0.1683 0.9008 %! 0.0000 0.0000 0.7071 0.0000 -0.2740 0.6519 0.0000 %! 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 ]; %! %! z_e = [ 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 %! -0.6108 0.0000 0.7917 0.0000 0.0000 0.0000 0.0000 %! 0.4887 0.0000 0.3770 -0.5345 0.1874 0.5461 0.0000 %! 0.0000 0.0000 0.0000 0.0000 -0.4107 0.1410 0.9008 %! 0.6108 0.0000 0.4713 0.2673 -0.1874 -0.5461 0.0000 %! -0.1222 0.0000 -0.0943 -0.8018 -0.1874 -0.5461 0.0000 %! 0.0000 0.0000 0.0000 0.0000 -0.8520 0.2924 -0.4342 ]; %! %!assert <45008> (ac, ac_e, 1e-4); %!assert <45008> (ec, ec_e, 1e-4); %!assert <45008> (bc, bc_e, 1e-4); %!assert <45008> (cc, cc_e, 1e-4); %!assert <45008> (q, q_e, 1e-4); %!assert <45008> (z, z_e, 1e-4); %!assert (ncont, ncont_e); ## Same as previouse test but now for a set that passes on March 2018 ## This is from OpenBLAS See bug #45008 ## controllability staircase form of descriptor state-space models (SLICOT TG01HD) %!shared ac, ec, bc, cc, q, z, ncont, ac_e2, ec_e2, bc_e2, cc_e2, q_e2, z_e2, ncont_e %! %! %! a = [ 2 0 2 0 -1 3 1 %! 0 1 0 0 1 0 0 %! 0 0 0 1 0 0 1 %! 0 0 2 0 -1 3 1 %! 0 0 0 1 0 0 1 %! 0 1 0 0 1 0 0 %! 0 0 0 1 0 0 1 ]; %! %! e = [ 0 0 1 0 0 0 0 %! 0 0 0 0 0 1 0 %! 0 0 0 0 0 0 1 %! 0 0 0 0 0 0 1 %! 0 0 0 1 0 0 0 %! 0 0 1 0 -1 0 0 %! 1 3 0 2 0 0 0 ]; %! %! b = [ 2 1 0 %! 0 0 0 %! 0 0 0 %! 0 0 0 %! 0 0 0 %! 0 0 0 %! 1 2 3 ]; %! %! c = [ 1 0 0 1 0 0 1 %! 0 -1 1 0 -1 1 0 ]; %! %! tol = 0; %! %! [ac, ec, bc, cc, q, z, ncont] = __sl_tg01hd__ (a, e, b, c, tol); %! %! ncont_e = 3; %! %! ac_e2 = [ 0.00000 -0.00000 -0.00000 -0.00000 1.28956 0.49272 0.30702 %! 0.00000 2.00000 -0.00000 -3.74166 -0.92273 0.38545 -0.00000 %! 0.00000 0.00000 1.78619 -0.37796 0.09662 0.23131 -0.77706 %! 0.00000 0.00000 0.00000 3.74166 0.92273 -0.38545 0.00000 %! 0.00000 0.00000 0.00000 0.00000 1.65718 0.63317 0.39454 %! 0.00000 0.00000 0.00000 0.00000 0.59595 0.22770 0.14188 %! 0.00000 0.00000 0.00000 0.00000 0.47386 0.18105 0.11282 ]; %! %! ec_e2 = [ 1.83254 -1.00000 2.37525 -0.00000 0.73367 1.75633 0.61404 %! 0.48868 -0.00000 -0.37702 -0.53452 0.06832 0.16356 -0.54947 %! 0.17277 -0.00000 -0.13330 1.13389 -0.04831 -0.11566 0.38853 %! 0.00000 0.00000 0.00000 -0.00000 0.92273 -0.38545 -0.00000 %! 0.00000 0.00000 0.00000 0.00000 1.00350 0.01670 -0.05612 %! 0.00000 0.00000 0.00000 0.00000 0.00000 1.01973 -0.13128 %! 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 1.19687 ]; %! %! bc_e2 = [ -1.00000 -2.00000 -3.00000 %! 2.00000 1.00000 0.00000 %! 0.00000 0.00000 0.00000 %! 0.00000 0.00000 0.00000 %! 0.00000 0.00000 0.00000 %! 0.00000 0.00000 0.00000 %! 0.00000 0.00000 0.00000 ]; %! %! cc_e2 = [ -1.2948e-16 1.0000e+00 9.9893e-17 1.7834e-16 -1.2896e+00 -4.9272e-01 -3.0702e-01 %! 3.6651e-01 -1.7636e-48 9.8026e-01 -1.6036e+00 6.8324e-02 1.6356e-01 -5.4947e-01 ]; %! %! q_e2 = [ 0.00000 1.00000 -0.00000 -0.00000 0.00000 -0.00000 0.00000 %! 0.00000 0.00000 -0.70711 0.00000 -0.10213 -0.23892 0.65764 %! 0.00000 -0.00000 0.00000 -0.00000 -0.91952 0.39305 -0.00000 %! 0.00000 0.00000 -0.00000 -1.00000 0.00000 -0.00000 0.00000 %! 0.00000 0.00000 0.00000 0.00000 -0.36556 -0.85519 -0.36746 %! 0.00000 0.00000 -0.70711 0.00000 0.10213 0.23892 -0.65764 %! -1.00000 -0.00000 0.00000 0.00000 0.00000 -0.00000 0.00000 ]; %! %! z_e2 = [ 0.00000 1.00000 0.00000 0.00000 0.00000 -0.00000 0.00000 %! -0.61085 0.00000 -0.79175 0.00000 0.00000 -0.00000 0.00000 %! 0.48868 -0.00000 -0.37702 -0.53452 0.06832 0.16356 -0.54947 %! 0.00000 -0.00000 -0.00000 -0.00000 -0.36683 -0.87816 -0.30702 %! 0.61085 -0.00000 -0.47128 0.26726 -0.06832 -0.16356 0.54947 %! -0.12217 0.00000 0.09426 -0.80178 -0.06832 -0.16356 0.54947 %! -0.00000 0.00000 0.00000 0.00000 -0.92273 0.38545 -0.00000 ]; %! %!assert (ac, ac_e2, 1e-4); %!assert (ec, ec_e2, 1e-4); %!assert (bc, bc_e2, 1e-4); %!assert (cc, cc_e2, 1e-4); %!assert (q, q_e2, 1e-4); %!assert (z, z_e2, 1e-4); %!assert (ncont, ncont_e); ## observability staircase form of descriptor state-space models (SLICOT TG01ID) %!shared ao, eo, bo, co, q, z, nobsv, ao_e, eo_e, bo_e, co_e, q_e, z_e, nobsv_e %! %! a = [ 2 0 0 0 0 0 0 %! 0 1 0 0 0 1 0 %! 2 0 0 2 0 0 0 %! 0 0 1 0 1 0 1 %! -1 1 0 -1 0 1 0 %! 3 0 0 3 0 0 0 %! 1 0 1 1 1 0 1 ]; %! %! e = [ 0 0 0 0 0 0 1 %! 0 0 0 0 0 0 3 %! 1 0 0 0 0 1 0 %! 0 0 0 0 1 0 2 %! 0 0 0 0 0 -1 0 %! 0 1 0 0 0 0 0 %! 0 0 1 1 0 0 0 ]; %! %! b = [ 1 0 %! 0 -1 %! 0 1 %! 1 0 %! 0 -1 %! 0 1 %! 1 0 ]; %! %! c = [ 2 0 0 0 0 0 1 %! 1 0 0 0 0 0 2 %! 0 0 0 0 0 0 3 ]; %! %! tol = 0; %! %! [ao, eo, bo, co, q, z, nobsv] = __sl_tg01id__ (a, e, b, c, tol); %! %! nobsv_e = 3; %! %! ao_e = [ 0.2177 0.2414 0.5742 0.4342 0.0000 -0.4342 0.4666 %! 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 %! -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 %! 0.0000 0.0000 0.0000 3.7417 0.3780 -3.7417 0.0000 %! 0.0000 0.0000 0.0000 0.0000 1.7862 0.0000 0.0000 %! 0.0000 0.0000 0.0000 0.0000 0.0000 2.0000 0.0000 %! 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 ]; %! %! eo_e = [ 1.0000 0.0000 0.0000 0.4342 0.0000 0.0000 1.8016 %! 0.0000 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 %! 0.0000 0.0000 -1.0260 0.8520 0.1325 0.1874 -0.8214 %! 0.0000 0.0000 0.0000 0.0000 -1.1339 -0.5345 0.0000 %! 0.0000 0.0000 0.0000 0.0000 -0.1333 0.3770 2.3752 %! 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 %! 0.0000 0.0000 0.0000 0.0000 -0.1728 0.4887 -1.8325 ]; %! %! bo_e = [ 0.4666 0.0000 %! 0.4334 0.5461 %! -1.2627 0.1874 %! 0.0000 -1.6036 %! 0.0000 -0.9803 %! 1.0000 0.0000 %! 0.0000 0.3665 ]; %! %! co_e = [ 0.0000 0.0000 0.0000 0.0000 0.0000 2.0000 1.0000 %! 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 2.0000 %! 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 3.0000 ]; %! %! q_e = [ 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 %! 0.0000 0.0000 0.0000 0.0000 0.7917 0.0000 -0.6108 %! 0.0000 0.5461 0.1874 -0.5345 0.3770 0.0000 0.4887 %! 0.9008 0.1410 -0.4107 0.0000 0.0000 0.0000 0.0000 %! 0.0000 -0.5461 -0.1874 0.2673 0.4713 0.0000 0.6108 %! 0.0000 -0.5461 -0.1874 -0.8018 -0.0943 0.0000 -0.1222 %! -0.4342 0.2924 -0.8520 0.0000 0.0000 0.0000 0.0000 ]; %! %! z_e = [ 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 %! 0.0000 -0.6519 0.2740 0.0000 0.7071 0.0000 0.0000 %! -0.4342 0.3491 0.8304 0.0000 0.0000 0.0000 0.0000 %! 0.0000 0.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 %! 0.9008 0.1683 0.4003 0.0000 0.0000 0.0000 0.0000 %! 0.0000 0.6519 -0.2740 0.0000 0.7071 0.0000 0.0000 %! 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 ]; %! %!assert <45008> (ao, ao_e, 1e-4); %!assert <45008> (eo, eo_e, 1e-4); %!assert <45008> (bo, bo_e, 1e-4); %!assert <45008> (co, co_e, 1e-4); %!assert <45008> (q, q_e, 1e-4); %!assert <45008> (z, z_e, 1e-4); %!assert (nobsv, nobsv_e); ## Same as previouse test but now for a set that passes on March 2018 ## This is from OpenBLAS. See bug #45008 ## observability staircase form of descriptor state-space models (SLICOT TG01ID) %!shared ao, eo, bo, co, q, z, nobsv, ao_e, eo_e, bo_e, co_e, q_e, z_e, nobsv_e %! %! a = [ 2 0 0 0 0 0 0 %! 0 1 0 0 0 1 0 %! 2 0 0 2 0 0 0 %! 0 0 1 0 1 0 1 %! -1 1 0 -1 0 1 0 %! 3 0 0 3 0 0 0 %! 1 0 1 1 1 0 1 ]; %! %! e = [ 0 0 0 0 0 0 1 %! 0 0 0 0 0 0 3 %! 1 0 0 0 0 1 0 %! 0 0 0 0 1 0 2 %! 0 0 0 0 0 -1 0 %! 0 1 0 0 0 0 0 %! 0 0 1 1 0 0 0 ]; %! %! b = [ 1 0 %! 0 -1 %! 0 1 %! 1 0 %! 0 -1 %! 0 1 %! 1 0 ]; %! %! c = [ 2 0 0 0 0 0 1 %! 1 0 0 0 0 0 2 %! 0 0 0 0 0 0 3 ]; %! %! tol = 0; %! %! [ao, eo, bo, co, q, z, nobsv] = __sl_tg01id__ (a, e, b, c, tol); %! %! nobsv_e = 3; %! %! ao_e = [ 0.11282 0.14188 0.39454 0.00000 -0.77706 -0.00000 0.30702 %! 0.18105 0.22770 0.63317 -0.38545 0.23131 0.38545 0.49272 %! 0.47386 0.59595 1.65718 0.92273 0.09662 -0.92273 1.28956 %! 0.00000 0.00000 0.00000 3.74166 -0.37796 -3.74166 -0.00000 %! 0.00000 0.00000 0.00000 0.00000 1.78619 -0.00000 -0.00000 %! 0.00000 0.00000 0.00000 0.00000 0.00000 2.00000 -0.00000 %! 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 ]; %! %! eo_e = [ 1.19687 -0.13128 -0.05612 -0.00000 0.38853 -0.54947 0.61404 %! 0.00000 1.01973 0.01670 -0.38545 -0.11566 0.16356 1.75633 %! 0.00000 0.00000 1.00350 0.92273 -0.04831 0.06832 0.73367 %! 0.00000 0.00000 0.00000 -0.00000 1.13389 -0.53452 -0.00000 %! 0.00000 0.00000 0.00000 0.00000 -0.13330 -0.37702 2.37525 %! 0.00000 0.00000 0.00000 0.00000 -0.00000 -0.00000 -1.00000 %! 0.00000 0.00000 0.00000 0.00000 0.17277 0.48868 1.83254 ]; %! %! bo_e = [ -3.0702e-01 -5.4947e-01 %! -4.9272e-01 1.6356e-01 %! -1.2896e+00 6.8324e-02 %! 1.7834e-16 -1.6036e+00 %! 9.9893e-17 9.8026e-01 %! 1.0000e+00 -1.7636e-48 %! -1.2948e-16 3.6651e-01 ]; %! %! co_e = [ 0.00000 0.00000 0.00000 0.00000 0.00000 2.00000 -1.00000 %! 0.00000 0.00000 0.00000 0.00000 0.00000 1.00000 -2.00000 %! 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 -3.00000 ]; %! %! q_e = [ 0.00000 -0.00000 0.00000 0.00000 0.00000 1.00000 0.00000 %! 0.00000 -0.00000 0.00000 0.00000 -0.79175 0.00000 -0.61085 %! -0.54947 0.16356 0.06832 -0.53452 -0.37702 -0.00000 0.48868 %! -0.30702 -0.87816 -0.36683 -0.00000 -0.00000 -0.00000 0.00000 %! 0.54947 -0.16356 -0.06832 0.26726 -0.47128 -0.00000 0.61085 %! 0.54947 -0.16356 -0.06832 -0.80178 0.09426 0.00000 -0.12217 %! -0.00000 0.38545 -0.92273 0.00000 0.00000 0.00000 -0.00000 ]; %! %! z_e = [ 0.00000 -0.00000 0.00000 -0.00000 -0.00000 1.00000 0.00000 %! 0.65764 -0.23892 -0.10213 0.00000 -0.70711 0.00000 0.00000 %! -0.00000 0.39305 -0.91952 -0.00000 0.00000 -0.00000 0.00000 %! 0.00000 -0.00000 0.00000 -1.00000 -0.00000 0.00000 0.00000 %! -0.36746 -0.85519 -0.36556 0.00000 0.00000 0.00000 0.00000 %! -0.65764 0.23892 0.10213 0.00000 -0.70711 0.00000 0.00000 %! 0.00000 -0.00000 0.00000 0.00000 0.00000 -0.00000 -1.00000 ]; %! %!assert (ao, ao_e, 1e-4); %!assert (eo, eo_e, 1e-4); %!assert (bo, bo_e, 1e-4); %!assert (co, co_e, 1e-4); %!assert (q, q_e, 1e-4); %!assert (z, z_e, 1e-4); %!assert (nobsv, nobsv_e); ## ss2tf conversion by Slicot TB04BD ## Test provided by Slicot %!shared NUM, DEN, NUMe, DENe %! A = [ -1.0 0.0 0.0 %! 0.0 -2.0 0.0 %! 0.0 0.0 -3.0 ]; %! %! B = [ 0.0 1.0 -1.0 %! 1.0 1.0 0.0 ].'; %! %! C = [ 0.0 1.0 1.0 %! 1.0 1.0 1.0 ]; %! %! D = [ 1.0 0.0 %! 0.0 1.0 ]; %! %! [NUM, DEN] = tfdata (ss (A, B, C, D)); %! %! NUMe = {[1, 5, 7], [1]; [1], [1, 5, 5]}; %! %! DENe = {[1, 5, 6], [1, 2]; [1, 5, 6], [1, 3, 2]}; %! %!assert (NUM, NUMe, 1e-4); %!assert (DEN, DENe, 1e-4); ## ss2tf conversion by Slicot TB04BD ## Trivial test %!shared NUM, DEN, NUMe, DENe %! A = [ 0 ]; %! %! B = [ 1 ]; %! %! C = [ 1 ]; %! %! D = [ 0 ]; %! %! [NUM, DEN] = tfdata (ss (A, B, C, D)); %! %! NUMe = {[1]}; %! %! DENe = {[1, 0]}; %! %!assert (NUM, NUMe, 1e-4); %!assert (DEN, DENe, 1e-4); ## transfer function to state-space conversion ## test from SLICOT TD04AD %!shared Mo, Me %! INDEX = [ 3 3 ]; %! %! DCOEFF = [ 1.0 6.0 11.0 6.0 %! 1.0 6.0 11.0 6.0 ]; %! %! UCOEFF = zeros (2, 2, 4); %! %! u11 = [ 1.0 6.0 12.0 7.0 ]; %! u12 = [ 0.0 1.0 4.0 3.0 ]; %! u21 = [ 0.0 0.0 1.0 1.0 ]; %! u22 = [ 1.0 8.0 20.0 15.0 ]; %! %! UCOEFF(1,1,:) = u11; %! UCOEFF(1,2,:) = u12; %! UCOEFF(2,1,:) = u21; %! UCOEFF(2,2,:) = u22; %! %! [Ao, Bo, Co, Do] = __sl_td04ad__ (UCOEFF, DCOEFF, INDEX, 0); %! %! Ae = [ 0.5000 -0.8028 0.9387 %! 4.4047 -2.3380 2.5076 %! -5.5541 1.6872 -4.1620 ]; %! %! Be = [ -0.2000 -1.2500 %! 0.0000 -0.6097 %! 0.0000 2.2217 ]; %! %! Ce = [ 0.0000 -0.8679 0.2119 %! 0.0000 0.0000 0.9002 ]; %! %! De = [ 1.0000 0.0000 %! 0.0000 1.0000 ]; %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [Ae, Be; Ce, De]; %! %!assert (Mo, Me, 1e-4); control-3.2.0/inst/PaxHeaders.3947/isctrb.m0000644000000000000000000000013213450727360015307 xustar0030 mtime=1554231024.525426189 30 atime=1554231024.525426189 30 ctime=1554231028.525576056 control-3.2.0/inst/isctrb.m0000644000175000017500000000722613450727360015557 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{sys}) ## @deftypefnx {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{sys}, @var{tol}) ## @deftypefnx {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{a}, @var{b}) ## @deftypefnx {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{a}, @var{b}, @var{e}) ## @deftypefnx {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{a}, @var{b}, @var{[]}, @var{tol}) ## @deftypefnx {Function File} {[@var{bool}, @var{ncon}] =} isctrb (@var{a}, @var{b}, @var{e}, @var{tol}) ## Logical check for system controllability. ## For numerical reasons, @code{isctrb (sys)} ## should be used instead of @code{rank (ctrb (sys))}. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. Descriptor state-space models are possible. ## If @var{sys} is not a state-space model, it is converted to ## a minimal state-space realization, so beware of pole-zero ## cancellations which may lead to wrong results! ## @item a ## State matrix (n-by-n). ## @item b ## Input matrix (n-by-m). ## @item e ## Descriptor matrix (n-by-n). ## If @var{e} is empty @code{[]} or not specified, an identity matrix is assumed. ## @item tol ## Optional roundoff parameter. Default value is 0. ## @end table ## ## @strong{Outputs} ## @table @var ## @item bool = 0 ## System is not controllable. ## @item bool = 1 ## System is controllable. ## @item ncon ## Number of controllable states. ## @end table ## ## @strong{Algorithm}@* ## Uses SLICOT AB01OD and TG01HD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @seealso{isobsv} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.5 function [bool, ncont] = isctrb (a, b = [], e = [], tol = []) if (nargin < 1 || nargin > 4) print_usage (); elseif (isa (a, "lti")) # isctrb (sys), isctrb (sys, tol) if (nargin > 2) print_usage (); endif if (! isa (a, "ss")) warning ("isctrb: converting to minimal state-space realization"); endif tol = b; [a, b, c, d, e] = dssdata (a, []); elseif (nargin < 2) # isctrb (a, b), isctrb (a, b, tol) print_usage (); elseif (! is_real_square_matrix (a) || ! is_real_matrix (b) || rows (a) != rows (b)) error ("isctrb: a(%dx%d), b(%dx%d) not conformal", rows (a), columns (a), rows (b), columns (b)); elseif (! isempty (e) && (! is_real_square_matrix (e) || ! size_equal (e, a))) error ("isctrb: a(%dx%d), e(%dx%d) not conformal", rows (a), columns (a), rows (e), columns (e)); endif if (isempty (tol)) tol = 0; # default tolerance elseif (! is_real_scalar (tol)) error ("isctrb: tol must be a real scalar"); endif if (isempty (e)) [~, ~, ~, ncont] = __sl_ab01od__ (a, b, tol); else [~, ~, ~, ~, ~, ~, ncont] = __sl_tg01hd__ (a, e, b, zeros (1, columns (a)), tol); endif bool = (ncont == rows (a)); endfunction control-3.2.0/inst/PaxHeaders.3947/bode.m0000644000000000000000000000013213450727360014732 xustar0030 mtime=1554231024.437422828 30 atime=1554231024.437422828 30 ctime=1554231028.525576056 control-3.2.0/inst/bode.m0000644000175000017500000000721713450727360015202 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {} bode (@var{sys}) ## @deftypefnx {Function File} {} bode (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}) ## @deftypefnx {Function File} {} bode (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{w}) ## @deftypefnx {Function File} {} bode (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'}) ## @deftypefnx {Function File} {[@var{mag}, @var{pha}, @var{w}] =} bode (@var{sys}) ## @deftypefnx {Function File} {[@var{mag}, @var{pha}, @var{w}] =} bode (@var{sys}, @var{w}) ## Bode diagram of frequency response. If no output arguments are given, ## the response is printed on the screen. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. Must be a single-input and single-output (SISO) system. ## @item w ## Optional vector of frequency values. If @var{w} is not specified, ## it is calculated by the zeros and poles of the system. ## Alternatively, the cell @code{@{wmin, wmax@}} specifies a frequency range, ## where @var{wmin} and @var{wmax} denote minimum and maximum frequencies ## in rad/s. ## @item 'style' ## Line style and color, e.g. 'r' for a solid red line or '-.k' for a dash-dotted ## black line. See @command{help plot} for details. ## @end table ## ## @strong{Outputs} ## @table @var ## @item mag ## Vector of magnitude. Has length of frequency vector @var{w}. ## @item pha ## Vector of phase. Has length of frequency vector @var{w}. ## @item w ## Vector of frequency values used. ## @end table ## ## @seealso{nichols, nyquist, sigma} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 1.0 function [mag_r, pha_r, w_r] = bode (varargin) if (nargin == 0) print_usage (); endif [H, w, sty, leg] = __frequency_response__ ("bode", varargin, nargout); H = cellfun (@reshape, H, {[]}, {1}, "uniformoutput", false); mag = cellfun (@abs, H, "uniformoutput", false); pha = cellfun (@(H) unwrap (arg (H)) * 180 / pi, H, "uniformoutput", false); if (! nargout) mag_db = cellfun (@mag2db, mag, "uniformoutput", false); mag_args = horzcat (cellfun (@horzcat, w, mag_db, sty, "uniformoutput", false){:}); pha_args = horzcat (cellfun (@horzcat, w, pha, sty, "uniformoutput", false){:}); subplot (2, 1, 1) semilogx (mag_args{:}) axis ("tight") ylim (__axis_margin__ (ylim)) grid ("on") title ("Bode Diagram") ylabel ("Magnitude [dB]") subplot (2, 1, 2) semilogx (pha_args{:}) axis ("tight") ylim (__axis_margin__ (ylim)) grid ("on") xlabel ("Frequency [rad/s]") ylabel ("Phase [deg]") legend (leg) else mag_r = mag{1}; pha_r = pha{1}; w_r = w{1}; endif endfunction %!demo %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! bode(g); %!test %! s = tf('s'); %! K = 1; %! T = 2; %! g = K/(1+T*s); %! [mag phas w] = bode(g); %! mag_dB = 20*log10(mag); %! index = find(mag_dB < -3,1); %! w_cutoff = w(index); %! assert (1/T, w_cutoff, eps); control-3.2.0/inst/PaxHeaders.3947/__tito_dim__.m0000644000000000000000000000013213450727360016425 xustar0030 mtime=1554231024.429422523 30 atime=1554231024.429422523 30 ctime=1554231028.525576056 control-3.2.0/inst/__tito_dim__.m0000644000175000017500000000307413450727360016672 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## Extract nmeas and ncon from plant P which has been partitioned by mktito. ## Author: Lukas Reichlin ## Created: January 2014 ## Version: 0.1 function [nmeas, ncon] = __tito_dim__ (P, name) [p, m] = size (P); outgroup = P.outgroup; ingroup = P.ingroup; if (! isfield (outgroup, "V")) error ("%s: missing outgroup 'V'", name); endif if (! isfield (ingroup, "U")) error ("%s: missing ingroup 'U'", name); endif nmeas = numel (outgroup.V); ncon = numel (ingroup.U); ## check whether indices of V and U are in ascending order ## and at the end of the outputs/inputs if (! isequal (outgroup.V(:), (p-nmeas+1:p)(:))) error ("%s: outgroup 'V' invalid", name); endif if (! isequal (ingroup.U(:), (m-ncon+1:m)(:))) error ("%s: ingroup 'U' invalid", name); endif endfunction control-3.2.0/inst/PaxHeaders.3947/__adjust_labels__.m0000644000000000000000000000013213450727360017431 xustar0030 mtime=1554231024.329418705 30 atime=1554231024.329418705 30 ctime=1554231028.525576056 control-3.2.0/inst/__adjust_labels__.m0000644000175000017500000000313513450727360017674 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Check whether a cell contains the required number of strings. ## Used by set and __set__. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function name = __adjust_labels__ (name, req_len) if (iscell (name)) name = reshape (name, [], 1); else # catch the siso case, name = {name}; # e.g. sys = set (sys, "inname", "u_1") endif if (! iscellstr (name)) error ("lti: set: require string or cell of strings"); endif if (numel (name) != req_len) if (numel (name) == 1 && req_len > 1) if (isempty (name{1})) # delete names quickly name = repmat ({""}, req_len, 1); else name = strseq (name{1}, 1:req_len); endif else error ("lti: set: cell must contain %d strings", req_len); endif endif endfunction control-3.2.0/inst/PaxHeaders.3947/imp_invar.m0000644000000000000000000000013213450727360016005 xustar0030 mtime=1554231024.517425883 30 atime=1554231024.517425883 30 ctime=1554231028.525576056 control-3.2.0/inst/imp_invar.m0000644000175000017500000001406713450727360016256 0ustar00olafolaf00000000000000## Copyright (C) 2009-2015 Lukas F. Reichlin ## Copyright (C) 2016 Douglas A. Stewart ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{b_out}, @var{a_out}] =} imp_invar (@var{b}, @var{a}, @var{fs}, @var{tol}) ## @deftypefnx {Function File} {[@var{b_out}, @var{a_out}] =} imp_invar (@var{b}, @var{a}, @var{fs}) ## @deftypefnx {Function File} {[@var{b_out}, @var{a_out}] =} imp_invar (@var{b}, @var{a}) ## @deftypefnx {Function File} {[@var{sys_out}] =} imp_invar (@var{b}, @var{a}, @var{fs}. @var{tol}) ## @deftypefnx {Function File} {[@var{sys_out}] =} imp_invar (@var{sys_in}, @var{fs}, @var{tol}) ## Converts analog filter with coefficients @var{b} and @var{a} and/or @var{sys_in} to digital, ## conserving impulse response. ## ## If @var{fs} is not specified, or is an empty vector, it defaults to 1Hz. ## ## If @var{tol} is not specified, it defaults to 0.0001 (0.1%) ## This function does the inverse of invimpinvar so that the following example should ## restore the original values of @var{a} and @var{b}. ## ## @command{invimpinvar} implements the reverse of this function. ## @example ## [b, a] = impinvar (b, a); ## [b, a] = invimpinvar (b, a); ## @end example ## ## Reference: Thomas J. Cavicchi (1996) ``Impulse invariance and multiple-order ## poles''. IEEE transactions on signal processing, Vol 44 (9): 2344--2347 ## ## @seealso{zoh, bilinear, invimpinvar} ## @end deftypefn function [bz az] = imp_invar (b , a , fs , tol = 1e-4) ## This funtion will accept both a ## sys variable as input and/or ## numerator, denominator as input. if (nargin < 1) print_usage; endif if (isa (b, "tf") == 1) ## the input is an LTI object ## therefore inputs are (sys,fs,tol) ## so b is sys ## and a is fs ## and fs is tol if (exist("fs","var") != 0) tol = fs; else tol=0.0001; endif if (exist ("a") == 1) fs=a; else fs=1; endif [b a] = tfdata (b , "v"); else ## the input is vectors if (exist ("fs") == 0) fs = 1; endif endif if (isempty (fs)) fs = 1; endif if (isempty (tol)) tol = 1e-4; endif T = 1/fs; [r, p, k, e] = residue (b, a); # partial fraction expansion if (length (k) > 0) # Greater than zero means we cannot do impulse invariance error("Order numerator >= order denominator"); endif p = -p; p = -exp(-p.*T); L = length (r); if (L == 1) retn = [r(1) 0]; retd = [1 p(1)]; else rr = nump (r(1), e(1), T, [1 p(1)]); [retn retd] = acpfwm (rr, [1 p(1)], r(2), [1 p(2)], e(2), T); for k=3:L [retn retd] = acpfwm (retn, retd, r(k), [1 p(k)], e(k), T); endfor endif rn = real (retn); rn (abs (rn) < 1e-14) = 0; # Get rid of any imaginary parts from round off errors rd = real (retd); sys11 = tf (rn, rd, T); sys2 = minreal (sys11, tol); # Use this to remove the common roots. if (nargout() < 2) bz = sys2; else [bz, az] = tfdata (sys2, "v"); endif endfunction function ret = addvecs2 (v11, v22) ## Add 2 vectors when they have different lengths. l1 = numel (v11); l2 = numel (v22); if (l1 != l2) if (l1 > l2) v22 = prepad (v22,l1); else v11 = prepad (v11, l2); endif endif ret = v11 + v22; endfunction function ret = addvecs1 (v11, v22) ml = max (numel (v11), numel (v22)); ret = prepad1 (v11, ml) .+ prepad1 (v22, ml); endfunction function ret = addvecs (v11, v22) ## Add 2 vectors when they have different lengths. l1 = numel (v11); l2 = numel (v22); if (l1 != l2) if (l1 > l2) v22=[zeros(1,l1-l2) v22]; else v11=[zeros(1,l2-l1) v11]; endif endif ret = v11 + v22; endfunction function v1 = convm (v1, v2, m) ## If m=0 then return v1 ## This function mutiplies 2 poynomials together ## with the second poly raised to the power M ## If v1 == v2 then when m=1 you get v1^2 ## If v1 != v2 then you get v1*v2^m while (m > 0) v1 = conv (v1, v2); m--; endwhile endfunction function ret = nump (c1,m,T,p) ## create the numerator plynomial ## for the Z transform. ## c1 is the gain for this term ## m is the multiplicity of this term ## T is the time period 1/fs ## p is the denominator (pole) of this term p=-p(2); # get the root value switch m # multiplicity of the term. case{1} ret = [c1 0]; case{2} ret = [c1*T*p 0]; case{3}; ret = c1*([T^2 *p, T^2 *p^2, 0]) / 2; case{4} ret = c1*[T^3 *p, 4*T^3 *p^2, T^3 *p^3] / 6; case(5) ret = c1*[T^4 *p, 11*T^4 *p^2, 11*T^4 *p^3, T^4 *p^4] / 24; case(6) ret = c1*[T^5 *p, 26*T^5 *p^2, 66*T^5 *p^3, 26*T^5 *p^4, T^5 *p^5] / 120; case(7) ret = c1*[T^6 *p, 57*T^6 *p^2, 302*T^6 *p^3, 302*T^6 *p^4, 57*T^6 *p^5, T^6 *p^6] / factorial(6); otherwise error ("Too many repeated roots"); endswitch endfunction function [retn retd] = acpfwm (c1,d1,c2,d2,m,T) ## add_complex_poly_fracion_with_multiplicity(a,b,m) ## Partial fraction expansion creates ## a set of polynomials Cn/(s+Rn)^m ## Take 2 of these and add them together. ## c1/(s+d1) is assumed to have a multiplicity of 1 ## and c2/(s+d2)^m has a multiplicity of m ## first do (s+d2)^m d2m = convm (d2, d2, m-1); ## Now calculate the numerator. c2m = nump (c2, m, T, d2); ## Cross multiply. n1 = conv (c1, d2m); n2 = conv (c2m, d1); ## And put it all together. retn = addvecs (n1, n2); retd = conv (d1, d2m); endfunction control-3.2.0/inst/PaxHeaders.3947/n4sid.m0000644000000000000000000000013013450727360015040 xustar0029 mtime=1554231024.55742741 29 atime=1554231024.55742741 30 ctime=1554231028.525576056 control-3.2.0/inst/n4sid.m0000644000175000017500000001656313450727360015316 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{sys}, @var{x0}, @var{info}] =} n4sid (@var{dat}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}, @var{info}] =} n4sid (@var{dat}, @var{n}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}, @var{info}] =} n4sid (@var{dat}, @var{opt}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}, @var{info}] =} n4sid (@var{dat}, @var{n}, @var{opt}, @dots{}) ## Estimate state-space model using @acronym{N4SID} algorithm. ## @acronym{N4SID}: Numerical algorithm for Subspace State Space System IDentification. ## If no output arguments are given, the singular values are ## plotted on the screen in order to estimate the system order. ## ## @strong{Inputs} ## @table @var ## @item dat ## iddata set containing the measurements, i.e. time-domain signals. ## @item n ## The desired order of the resulting state-space system @var{sys}. ## If not specified, @var{n} is chosen automatically according ## to the singular values and tolerances. ## @item @dots{} ## Optional pairs of keys and values. @code{'key1', value1, 'key2', value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## ## @strong{Outputs} ## @table @var ## @item sys ## Discrete-time state-space model. ## @item x0 ## Initial state vector. If @var{dat} is a multi-experiment dataset, ## @var{x0} becomes a cell vector containing an initial state vector ## for each experiment. ## @item info ## Struct containing additional information. ## @table @var ## @item info.K ## Kalman gain matrix. ## @item info.Q ## State covariance matrix. ## @item info.Ry ## Output covariance matrix. ## @item info.S ## State-output cross-covariance matrix. ## @item info.L ## Noise variance matrix factor. LL'=Ry. ## @end table ## @end table ## ## ## ## @strong{Option Keys and Values} ## @table @var ## @item 'n' ## The desired order of the resulting state-space system @var{sys}. ## @var{s} > @var{n} > 0. ## ## @item 's' ## The number of block rows @var{s} in the input and output ## block Hankel matrices to be processed. @var{s} > 0. ## In the MOESP theory, @var{s} should be larger than @var{n}, ## the estimated dimension of state vector. ## ## @item 'alg', 'algorithm' ## Specifies the algorithm for computing the triangular ## factor R, as follows: ## @table @var ## @item 'C' ## Cholesky algorithm applied to the correlation ## matrix of the input-output data. Default method. ## @item 'F' ## Fast QR algorithm. ## @item 'Q' ## QR algorithm applied to the concatenated block ## Hankel matrices. ## @end table ## ## @item 'tol' ## Absolute tolerance used for determining an estimate of ## the system order. If @var{tol} >= 0, the estimate is ## indicated by the index of the last singular value greater ## than or equal to @var{tol}. (Singular values less than @var{tol} ## are considered as zero.) When @var{tol} = 0, an internally ## computed default value, @var{tol} = @var{s}*@var{eps}*SV(1), is used, ## where SV(1) is the maximal singular value, and @var{eps} is ## the relative machine precision. ## When @var{tol} < 0, the estimate is indicated by the ## index of the singular value that has the largest ## logarithmic gap to its successor. Default value is 0. ## ## @item 'rcond' ## The tolerance to be used for estimating the rank of ## matrices. If the user sets @var{rcond} > 0, the given value ## of @var{rcond} is used as a lower bound for the reciprocal ## condition number; an m-by-n matrix whose estimated ## condition number is less than 1/@var{rcond} is considered to ## be of full rank. If the user sets @var{rcond} <= 0, then an ## implicitly computed, default tolerance, defined by ## @var{rcond} = m*n*@var{eps}, is used instead, where @var{eps} is the ## relative machine precision. Default value is 0. ## ## @item 'confirm' ## Specifies whether or not the user's confirmation of the ## system order estimate is desired, as follows: ## @table @var ## @item true ## User's confirmation. ## @item false ## No confirmation. Default value. ## @end table ## ## @item 'noiseinput' ## The desired type of noise input channels. ## @table @var ## @item 'n' ## No error inputs. Default value. ## @iftex ## @tex ## $$ x_{k+1} = A x_k + B u_k $$ ## $$ y_k = C x_k + D u_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## x[k+1] = A x[k] + B u[k] ## y[k] = C x[k] + D u[k] ## @end example ## @end ifnottex ## ## @item 'e' ## Return @var{sys} as a (p-by-m+p) state-space model with ## both measured input channels u and noise channels e ## with covariance matrix @var{Ry}. ## @iftex ## @tex ## $$ x_{k+1} = A x_k + B u_k + K e_k $$ ## $$ y_k = C x_k + D u_k + e_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## x[k+1] = A x[k] + B u[k] + K e[k] ## y[k] = C x[k] + D u[k] + e[k] ## @end example ## @end ifnottex ## ## @item 'v' ## Return @var{sys} as a (p-by-m+p) state-space model with ## both measured input channels u and white noise channels v ## with identity covariance matrix. ## @iftex ## @tex ## $$ x_{k+1} = A x_k + B u_k + K L v_k $$ ## $$ y_k = C x_k + D u_k + L v_k $$ ## $$ e = L v, \\ L L^T = R_y $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## x[k+1] = A x[k] + B u[k] + K L v[k] ## y[k] = C x[k] + D u[k] + L v[k] ## e = L v, L L' = Ry ## @end example ## @end ifnottex ## ## @item 'k' ## Return @var{sys} as a Kalman predictor for simulation. ## @iftex ## @tex ## $$ \\widehat{x}_{k+1} = A \\widehat{x}_k + B u_k + K (y_k - \\widehat{y}_k) $$ ## $$ \\widehat{y}_k = C \\widehat{x}_k + D u_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ^ ^ ^ ## x[k+1] = A x[k] + B u[k] + K(y[k] - y[k]) ## ^ ^ ## y[k] = C x[k] + D u[k] ## @end example ## @end ifnottex ## ## @iftex ## @tex ## $$ \\widehat{x}_{k+1} = (A-KC) \\widehat{x}_k + (B-KD) u_k + K y_k $$ ## $$ \\widehat{y}_k = C \\widehat{x}_k + D u_k + 0 y_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ^ ^ ## x[k+1] = (A-KC) x[k] + (B-KD) u[k] + K y[k] ## ^ ^ ## y[k] = C x[k] + D u[k] + 0 y[k] ## @end example ## @end ifnottex ## @end table ## @end table ## ## ## @strong{Algorithm}@* ## Uses SLICOT IB01AD, IB01BD and IB01CD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: May 2012 ## Version: 0.1 function [sys, x0, info] = n4sid (varargin) if (nargin == 0) print_usage (); endif if (nargout == 0) __slicot_identification__ ("n4sid", nargout, varargin{:}); else [sys, x0, info] = __slicot_identification__ ("n4sid", nargout, varargin{:}); endif endfunction control-3.2.0/inst/PaxHeaders.3947/thiran.m0000644000000000000000000000013213450727360015306 xustar0030 mtime=1554231024.597428938 30 atime=1554231024.597428938 30 ctime=1554231028.525576056 control-3.2.0/inst/thiran.m0000644000175000017500000000736213450727360015557 0ustar00olafolaf00000000000000## Copyright (C) 2013-2015 Thomas Vasileiou ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} thiran (@var{tau}, @var{tsam}) ## Approximation of continuous-time delay using a discrete-time ## allpass Thiran filter. ## ## Thiran filters can approximate continuous-time delays that are ## non-integer multiples of the sampling time (fractional delays). ## This approximation gives a better matching of the phase shift ## between the continuous- and the discrete-time system. ## If there is no fractional part in the delay, then the standard ## discrete-time delay representation is used. ## ## @strong{Inputs} ## @table @var ## @item tau ## A continuous-time delay, given in time units (seconds). ## @item tsam ## The sampling time of the resulting Thiran filter. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Transfer function model of the resulting filter. ## The order of the filter is determined automatically. ## @end table ## ## @strong{Example} ## @example ## @group ## octave:1> sys = thiran (1.33, 0.5) ## ## Transfer function 'sys' from input 'u1' to output ... ## ## 0.003859 z^3 - 0.03947 z^2 + 0.2787 z + 1 ## y1: ----------------------------------------- ## z^3 + 0.2787 z^2 - 0.03947 z + 0.003859 ## ## Sampling time: 0.5 s ## Discrete-time model. ## @end group ## @end example ## @example ## @group ## octave:2> sys = thiran (1, 0.5) ## ## Transfer function 'sys' from input 'u1' to output ... ## ## 1 ## y1: --- ## z^2 ## ## Sampling time: 0.5 s ## Discrete-time model. ## @end group ## @end example ## ## @seealso{absorbdelay, pade} ## @end deftypefn ## Author: Thomas Vasileiou ## Created: January 2013 ## Version: 0.1 function sys = thiran (del, tsam) ## check args if (nargin != 2) print_usage (); endif if (! issample (del, 0)) error ("thiran: the delay parameter 'tau' must be a non-negative scalar."); endif if (! issample (tsam)) error ("thiran: the second parameter 'tsam' is not a valid sampling time."); endif if (del == 0) sys = tf (1); return; endif ## find fractional and discrete delay N = floor (del/tsam + eps); # put eps or sometimes it misses d = del - N*tsam; ## check if we do need a thiran filter if (d/tsam < eps) sys = tf (1, [1, zeros(1, N)], tsam); else ## make filter order ~ del to ensure stability N = N + 1; # order of the filter d = del/tsam; tmp = ((d-N+(0:N).') * ones (1,N)) ./ (d-N + bsxfun (@plus, 1:N, (0:N).')); a = horzcat (1, (-1).^(1:N) .* bincoeff (N, 1:N) .* prod (tmp)); sys = tf (fliplr (a), a, tsam); endif endfunction %!shared num, den, expc %! expc = [1, 0.5294, -0.04813, 0.004159]; %! sys = thiran (2.4, 1); %! [num, den] = tfdata (sys, "vector"); %!assert (den, expc, 1e-4); %!assert (num, fliplr (expc), 1e-4); %!shared num, den %! sys = thiran (0.5, 0.1); %! [num, den] = tfdata (sys, "vector"); %!assert (den, [1, 0, 0, 0, 0, 0], eps); %!assert (num, 1, eps); %!error (thiran (-1, 1)); %!error (thiran (1, -1)); %!error (thiran ([1 2 3], 1)); control-3.2.0/inst/PaxHeaders.3947/covar.m0000644000000000000000000000013213450727360015133 xustar0030 mtime=1554231024.449423287 30 atime=1554231024.449423287 30 ctime=1554231028.525576056 control-3.2.0/inst/covar.m0000644000175000017500000000434513450727360015402 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{p}, @var{q}] =} covar (@var{sys}, @var{w}) ## Return the steady-state covariance. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @item w ## Intensity of Gaussian white noise inputs which drive @var{sys}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item p ## Output covariance. ## @item q ## State covariance. ## @end table ## ## @seealso{lyap, dlyap} ## @end deftypefn ## Author: Lukas Reichlin ## Created: January 2010 ## Version: 0.1 function [p, q] = covar (sys, w) if (nargin != 2) print_usage (); endif if (! isa (sys, "lti")) error ("covar: first argument must be an LTI model"); endif if (! isstable (sys)) error ("covar: system must be stable"); endif [a, b, c, d] = ssdata (sys); if (isct (sys)) if (any (d(:))) error ("covar: system is not strictly proper"); endif q = lyap (a, b*w*b.'); p = c*q*c.'; else q = dlyap (a, b*w*b.'); p = c*q*c.' + d*w*d.'; endif endfunction ## continuous-time %!shared p, q, p_exp, q_exp %! sys = ss (-1, 1, 1, 0); %! [p, q] = covar (sys, 5); %! p_exp = 2.5000; %! q_exp = 2.5000; %!assert (p, p_exp, 1e-4); %!assert (q, q_exp, 1e-4); ## discrete-time %!shared p, q, p_exp, q_exp %! sys = ss ([-0.2, -0.5; 1, 0], [2; 0], [1, 0.5], [0], 0.1); %! [p, q] = covar (sys, 5); %! p_exp = 30.3167; %! q_exp = [27.1493, -3.6199; -3.6199, 27.1493]; %!assert (p, p_exp, 1e-4); %!assert (q, q_exp, 1e-4); control-3.2.0/inst/PaxHeaders.3947/kalman.m0000644000000000000000000000013213450727360015264 xustar0030 mtime=1554231024.533426494 30 atime=1554231024.533426494 30 ctime=1554231028.525576056 control-3.2.0/inst/kalman.m0000644000175000017500000000740413450727360015532 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{est}, @var{g}, @var{x}] =} kalman (@var{sys}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{est}, @var{g}, @var{x}] =} kalman (@var{sys}, @var{q}, @var{r}, @var{s}) ## @deftypefnx {Function File} {[@var{est}, @var{g}, @var{x}] =} kalman (@var{sys}, @var{q}, @var{r}, @var{[]}, @var{sensors}, @var{known}) ## @deftypefnx {Function File} {[@var{est}, @var{g}, @var{x}] =} kalman (@var{sys}, @var{q}, @var{r}, @var{s}, @var{sensors}, @var{known}) ## Design Kalman estimator for @acronym{LTI} systems. ## ## @strong{Inputs} ## @table @var ## @item sys ## Nominal plant model. ## @item q ## Covariance of white process noise. ## @item r ## Covariance of white measurement noise. ## @item s ## Optional cross term covariance. Default value is 0. ## @item sensors ## Indices of measured output signals y from @var{sys}. If omitted, all outputs are measured. ## @item known ## Indices of known input signals u (deterministic) to @var{sys}. All other inputs to @var{sys} ## are assumed stochastic. If argument @var{known} is omitted, no inputs u are known. ## @end table ## ## @strong{Outputs} ## @table @var ## @item est ## State-space model of the Kalman estimator. ## @item g ## Estimator gain. ## @item x ## Solution of the Riccati equation. ## @end table ## ## @strong{Block Diagram} ## @example ## @group ## u +-------+ ^ ## +---------------------------->| |-------> y ## | +-------+ + y | est | ^ ## u ----+--->| |----->(+)------>| |-------> x ## | sys | ^ + +-------+ ## w -------->| | | ## +-------+ | v ## ## Q = cov (w, w') R = cov (v, v') S = cov (w, v') ## @end group ## @end example ## ## @seealso{care, dare, estim, lqr} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 0.3 function [est, k, x] = kalman (sys, q, r, s = [], sensors = [], deterministic = []) ## TODO: type "current" for discrete-time systems if (nargin < 3 || nargin > 6 || ! isa (sys, "lti")) print_usage (); endif [a, b, c, d, e] = dssdata (sys, []); if (isempty (sensors)) sensors = 1 : rows (c); endif stochastic = setdiff (1 : columns (b), deterministic); c = c(sensors, :); g = b(:, stochastic); h = d(sensors, stochastic); if (isempty (s)) rbar = r + h*q*h.'; sbar = g * q*h.'; else rbar = r + h*q*h.'+ h*s + s.'*h.'; sbar = g * (q*h.' + s); endif if (isct (sys)) [x, l, k] = care (a.', c.', g*q*g.', rbar, sbar, e.'); else [x, l, k] = dare (a.', c.', g*q*g.', rbar, sbar, e.'); endif k = k.'; est = estim (sys, k, sensors, deterministic); endfunction %!shared m, m_exp, g, g_exp, x, x_exp %! sys = ss (-2, 1, 1, 3); %! [est, g, x] = kalman (sys, 1, 1, 1); %! [a, b, c, d] = ssdata (est); %! m = [a, b; c, d]; %! m_exp = [-2.25, 0.25; 1, 0; 1, 0]; %! g_exp = 0.25; %! x_exp = 0; %!assert (m, m_exp, 1e-2); %!assert (g, g_exp, 1e-2); %!assert (x, x_exp, 1e-2); control-3.2.0/inst/PaxHeaders.3947/hinfsyn.m0000644000000000000000000000013213450727360015477 xustar0030 mtime=1554231024.493424967 30 atime=1554231024.493424967 30 ctime=1554231028.525576056 control-3.2.0/inst/hinfsyn.m0000644000175000017500000003712113450727360015744 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{info}] =} hinfsyn (@var{P}, @var{nmeas}, @var{ncon}) ## @deftypefnx{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{info}] =} hinfsyn (@var{P}, @var{nmeas}, @var{ncon}, @dots{}) ## @deftypefnx{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{info}] =} hinfsyn (@var{P}, @var{nmeas}, @var{ncon}, @var{opt}, @dots{}) ## @deftypefnx{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{info}] =} hinfsyn (@var{P}, @dots{}) ## @deftypefnx{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{info}] =} hinfsyn (@var{P}, @var{opt}, @dots{}) ## H-infinity control synthesis for @acronym{LTI} plant. ## ## @strong{Inputs} ## @table @var ## @item P ## Generalized plant. Must be a proper/realizable @acronym{LTI} model. ## If @var{P} is constructed with @command{mktito} or @command{augw}, ## arguments @var{nmeas} and @var{ncon} can be omitted. ## @item nmeas ## Number of measured outputs v. The last @var{nmeas} outputs of @var{P} are connected to the ## inputs of controller @var{K}. The remaining outputs z (indices 1 to p-nmeas) are used ## to calculate the H-infinity norm. ## @item ncon ## Number of controlled inputs u. The last @var{ncon} inputs of @var{P} are connected to the ## outputs of controller @var{K}. The remaining inputs w (indices 1 to m-ncon) are excited ## by a harmonic test signal. ## @item @dots{} ## Optional pairs of keys and values. @code{'key1', value1, 'key2', value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item K ## State-space model of the H-infinity (sub-)optimal controller. ## @item N ## State-space model of the lower LFT of @var{P} and @var{K}. ## @item info ## Structure containing additional information. ## @item info.gamma ## L-infinity norm of @var{N}. ## @item info.rcond ## Vector @var{rcond} contains estimates of the reciprocal condition ## numbers of the matrices which are to be inverted and ## estimates of the reciprocal condition numbers of the ## Riccati equations which have to be solved during the ## computation of the controller @var{K}. For details, ## see the description of the corresponding SLICOT routine. ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'method' ## String specifying the desired kind of controller: ## @table @var ## @item 'optimal', 'opt', 'o' ## Compute optimal controller using gamma iteration. ## Default selection for compatibility reasons. ## @item 'suboptimal', 'sub', 's' ## Compute (sub-)optimal controller. For stability reasons, ## suboptimal controllers are to be preferred over optimal ones. ## @end table ## @item 'gmax' ## The maximum value of the H-infinity norm of @var{N}. ## It is assumed that @var{gmax} is sufficiently large ## so that the controller is admissible. Default value is 1e15. ## @item 'gmin' ## Initial lower bound for gamma iteration. Default value is 0. ## @var{gmin} is only meaningful for optimal discrete-time controllers. ## @item 'tolgam' ## Tolerance used for controlling the accuracy of @var{gamma} ## and its distance to the estimated minimal possible ## value of @var{gamma}. Default value is 0.01. ## If @var{tolgam} = 0, then a default value equal to @code{sqrt(eps)} ## is used, where @var{eps} is the relative machine precision. ## For suboptimal controllers, @var{tolgam} is ignored. ## @item 'actol' ## Upper bound for the poles of the closed-loop system @var{N} ## used for determining if it is stable. ## @var{actol} >= 0 for stable systems. ## For suboptimal controllers, @var{actol} is ignored. ## @end table ## ## @strong{Block Diagram} ## @example ## @group ## ## gamma = min||N(K)|| N = lft (P, K) ## K inf ## ## +--------+ ## w ----->| |-----> z ## | P(s) | ## u +---->| |-----+ v ## | +--------+ | ## | | ## | +--------+ | ## +-----| K(s) |<----+ ## +--------+ ## ## +--------+ ## w ----->| N(s) |-----> z ## +--------+ ## @end group ## @end example ## ## @strong{Algorithm}@* ## Uses SLICOT SB10FD, SB10DD and SB10AD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @seealso{augw, mixsyn} ## @end deftypefn ## Author: Lukas Reichlin ## Created: December 2009 ## Version: 0.3 function [K, varargout] = hinfsyn (P, varargin) ## check input arguments if (nargin == 0) print_usage (); endif if (! isa (P, "lti")) error ("hinfsyn: first argument must be an LTI system"); endif if (nargin == 1 || (nargin > 1 && ! is_real_scalar (varargin{1}))) # hinfsyn (P, ...) [nmeas, ncon] = __tito_dim__ (P, "hinfsyn"); elseif (nargin >= 3) # hinfsyn (P, nmeas, ncon, ...) nmeas = varargin{1}; ncon = varargin{2}; varargin = varargin(3:end); else print_usage (); endif if (! is_real_scalar (nmeas)) error ("hinfsyn: second argument 'nmeas' invalid"); endif if (! is_real_scalar (ncon)) error ("hinfsyn: third argument 'ncon' invalid"); endif if (numel (varargin) > 0 && isstruct (varargin{1})) # hinfsyn (P, nmeas, ncon, opt, ...), hinfsyn (P, opt, ...) varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end)); endif nkv = numel (varargin); # number of keys and values if (rem (nkv, 2)) error ("hinfsyn: keys and values must come in pairs"); endif ## default arguments gmax = 1e15; gmin = 0; tolgam = 0.01; actol = eps; # tolerance for stability margin method = "opt"; ## handle keys and values for k = 1 : 2 : nkv key = lower (varargin{k}); val = varargin{k+1}; switch (key) case "gmax" if (! is_real_scalar (val) || val < 0) error ("hinfsyn: 'gmax' must be a real-valued, non-negative scalar"); endif gmax = val; case "gmin" if (! is_real_scalar (val) || val < 0) error ("hinfsyn: 'gmin' must be a real-valued, non-negative scalar"); endif gmin = val; case "tolgam" if (! is_real_scalar (val) || val < 0) error ("hinfsyn: 'tolgam' must be a real-valued, non-negative scalar"); endif tolgam = val; case "actol" if (! is_real_scalar (val) || val < 0) error ("hinfsyn: 'actol' must be a real-valued, non-negative scalar"); endif actol = val; case "method" ## NOTE: I called this "method" because of the dark side, ## maybe something like "type" would make more sense ... if (strncmpi (val, "s", 1)) method = "sub"; # sub-optimal elseif (strncmpi (val, "o", 1) || strncmpi (val, "ric", 1)) method = "opt"; # optimal else error ("hinfsyn: invalid method '%s'", val); endif otherwise warning ("hinfsyn: invalid property name '%s' ignored", key); endswitch endfor [a, b, c, d, tsam] = ssdata (P); ## check assumption A1 m = columns (b); p = rows (c); m1 = m - ncon; p1 = p - nmeas; if (! isstabilizable (P(:, m1+1:m))) error ("hinfsyn: (A, B2) must be stabilizable"); endif if (! isdetectable (P(p1+1:p, :))) error ("hinfsyn: (C2, A) must be detectable"); endif ## H-infinity synthesis switch (method) case "sub" # sub-optimal controller if (isct (P)) # continuous-time plant [ak, bk, ck, dk, rcond] = __sl_sb10fd__ (a, b, c, d, ncon, nmeas, gmax); else # discrete-time plant [ak, bk, ck, dk, rcond] = __sl_sb10dd__ (a, b, c, d, ncon, nmeas, gmax); endif case "opt" # optimal controller if (isct (P)) # continuous-time plant [ak, bk, ck, dk, ~, ~, ~, ~, ~, rcond] = __sl_sb10ad__ (a, b, c, d, ncon, nmeas, gmax, tolgam, -actol); else # discrete-time plant ## NOTE: check whether it is an alternative to compute the bilinear transformation ## of P, use __sl_sb10ad__ for a continuous-time controller and then ## discretize the controller. ## estimate gamma Pt = d2c (P, "tustin"); [at, bt, ct, dt] = ssdata (Pt); [~, ~, ~, ~, ~, ~, ~, ~, gamma] = __sl_sb10ad__ (at, bt, ct, dt, ncon, nmeas, gmax, tolgam, -actol); ## gamma iteration - bisection method using __sl_sb10dd__ gmax = 1.2*gamma; while (gmax > eps && (gmax - gmin)/gmax > tolgam) gmid = (gmax + gmin)/2; try [ak, bk, ck, dk, rcond] = __sl_sb10dd__ (a, b, c, d, ncon, nmeas, gmid); ## check for stability K = ss (ak, bk, ck, dk, tsam); N = lft (P, K); if (isstable (N, actol)) gmax = norm (N, inf); else gmin = gmid; endif catch # cannot find solution gmin = gmid; end_try_catch endwhile endif otherwise error ("hinfsyn: this should never happen"); endswitch ## controller K = ss (ak, bk, ck, dk, tsam); if (nargout > 1) N = lft (P, K); varargout{1} = N; if (nargout > 2) gamma = norm (N, inf); varargout{2} = gamma; if (nargout > 3) varargout{3} = struct ("gamma", gamma, "rcond", rcond); endif endif endif endfunction ## sub-optimal controller, continuous-time case %!shared M, M_exp %! A = [-1.0 0.0 4.0 5.0 -3.0 -2.0 %! -2.0 4.0 -7.0 -2.0 0.0 3.0 %! -6.0 9.0 -5.0 0.0 2.0 -1.0 %! -8.0 4.0 7.0 -1.0 -3.0 0.0 %! 2.0 5.0 8.0 -9.0 1.0 -4.0 %! 3.0 -5.0 8.0 0.0 2.0 -6.0]; %! %! B = [-3.0 -4.0 -2.0 1.0 0.0 %! 2.0 0.0 1.0 -5.0 2.0 %! -5.0 -7.0 0.0 7.0 -2.0 %! 4.0 -6.0 1.0 1.0 -2.0 %! -3.0 9.0 -8.0 0.0 5.0 %! 1.0 -2.0 3.0 -6.0 -2.0]; %! %! C = [ 1.0 -1.0 2.0 -4.0 0.0 -3.0 %! -3.0 0.0 5.0 -1.0 1.0 1.0 %! -7.0 5.0 0.0 -8.0 2.0 -2.0 %! 9.0 -3.0 4.0 0.0 3.0 7.0 %! 0.0 1.0 -2.0 1.0 -6.0 -2.0]; %! %! D = [ 1.0 -2.0 -3.0 0.0 0.0 %! 0.0 4.0 0.0 1.0 0.0 %! 5.0 -3.0 -4.0 0.0 1.0 %! 0.0 1.0 0.0 1.0 -3.0 %! 0.0 0.0 1.0 7.0 1.0]; %! %! P = ss (A, B, C, D); %! K = hinfsyn (P, 2, 2, "method", "sub", "gmax", 15); %! M = [K.A, K.B; K.C, K.D]; %! %! KA = [ -2.8043 14.7367 4.6658 8.1596 0.0848 2.5290 %! 4.6609 3.2756 -3.5754 -2.8941 0.2393 8.2920 %! -15.3127 23.5592 -7.1229 2.7599 5.9775 -2.0285 %! -22.0691 16.4758 12.5523 -16.3602 4.4300 -3.3168 %! 30.6789 -3.9026 -1.3868 26.2357 -8.8267 10.4860 %! -5.7429 0.0577 10.8216 -11.2275 1.5074 -10.7244]; %! %! KB = [ -0.1581 -0.0793 %! -0.9237 -0.5718 %! 0.7984 0.6627 %! 0.1145 0.1496 %! -0.6743 -0.2376 %! 0.0196 -0.7598]; %! %! KC = [ -0.2480 -0.1713 -0.0880 0.1534 0.5016 -0.0730 %! 2.8810 -0.3658 1.3007 0.3945 1.2244 2.5690]; %! %! KD = [ 0.0554 0.1334 %! -0.3195 0.0333]; %! %! M_exp = [KA, KB; KC, KD]; %! %!assert (M, M_exp, 1e-4); ## sub-optimal controller, discrete-time case %!shared M, M_exp %! A = [-0.7 0.0 0.3 0.0 -0.5 -0.1 %! -0.6 0.2 -0.4 -0.3 0.0 0.0 %! -0.5 0.7 -0.1 0.0 0.0 -0.8 %! -0.7 0.0 0.0 -0.5 -1.0 0.0 %! 0.0 0.3 0.6 -0.9 0.1 -0.4 %! 0.5 -0.8 0.0 0.0 0.2 -0.9]; %! %! B = [-1.0 -2.0 -2.0 1.0 0.0 %! 1.0 0.0 1.0 -2.0 1.0 %! -3.0 -4.0 0.0 2.0 -2.0 %! 1.0 -2.0 1.0 0.0 -1.0 %! 0.0 1.0 -2.0 0.0 3.0 %! 1.0 0.0 3.0 -1.0 -2.0]; %! %! C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 %! -3.0 0.0 1.0 -1.0 1.0 0.0 %! 0.0 2.0 0.0 -4.0 0.0 -2.0 %! 1.0 -3.0 0.0 0.0 3.0 1.0 %! 0.0 1.0 -2.0 1.0 0.0 -2.0]; %! %! D = [ 1.0 -1.0 -2.0 0.0 0.0 %! 0.0 1.0 0.0 1.0 0.0 %! 2.0 -1.0 -3.0 0.0 1.0 %! 0.0 1.0 0.0 1.0 -1.0 %! 0.0 0.0 1.0 2.0 1.0]; %! %! P = ss (A, B, C, D, 1); # value of sampling time doesn't matter %! K = hinfsyn (P, 2, 2, "method", "sub", "gmax", 111.294); %! M = [K.A, K.B; K.C, K.D]; %! %! KA = [-18.0030 52.0376 26.0831 -0.4271 -40.9022 18.0857 %! 18.8203 -57.6244 -29.0938 0.5870 45.3309 -19.8644 %! -26.5994 77.9693 39.0368 -1.4020 -60.1129 26.6910 %! -21.4163 62.1719 30.7507 -0.9201 -48.6221 21.8351 %! -0.8911 4.2787 2.3286 -0.2424 -3.0376 1.2169 %! -5.3286 16.1955 8.4824 -0.2489 -12.2348 5.1590]; %! %! KB = [ 16.9788 14.1648 %! -18.9215 -15.6726 %! 25.2046 21.2848 %! 20.1122 16.8322 %! 1.4104 1.2040 %! 5.3181 4.5149]; %! %! KC = [ -9.1941 27.5165 13.7364 -0.3639 -21.5983 9.6025 %! 3.6490 -10.6194 -5.2772 0.2432 8.1108 -3.6293]; %! %! KD = [ 9.0317 7.5348 %! -3.4006 -2.8219]; %! %! M_exp = [KA, KB; KC, KD]; %! %!assert (M, M_exp, 1e-4); ## optimal controller, discrete-time case??? -- test for bisection method %!shared M, M_exp, GAM_exp, GAM %! A = [-0.7 0.0 0.3 0.0 -0.5 -0.1 %! -0.6 0.2 -0.4 -0.3 0.0 0.0 %! -0.5 0.7 -0.1 0.0 0.0 -0.8 %! -0.7 0.0 0.0 -0.5 -1.0 0.0 %! 0.0 0.3 0.6 -0.9 0.1 -0.4 %! 0.5 -0.8 0.0 0.0 0.2 -0.9]; %! %! B = [-1.0 -2.0 -2.0 1.0 0.0 %! 1.0 0.0 1.0 -2.0 1.0 %! -3.0 -4.0 0.0 2.0 -2.0 %! 1.0 -2.0 1.0 0.0 -1.0 %! 0.0 1.0 -2.0 0.0 3.0 %! 1.0 0.0 3.0 -1.0 -2.0]; %! %! C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 %! -3.0 0.0 1.0 -1.0 1.0 0.0 %! 0.0 2.0 0.0 -4.0 0.0 -2.0 %! 1.0 -3.0 0.0 0.0 3.0 1.0 %! 0.0 1.0 -2.0 1.0 0.0 -2.0]; %! %! D = [ 1.0 -1.0 -2.0 0.0 0.0 %! 0.0 1.0 0.0 1.0 0.0 %! 2.0 -1.0 -3.0 0.0 1.0 %! 0.0 1.0 0.0 1.0 -1.0 %! 0.0 0.0 1.0 2.0 1.0]; %! %! P = ss (A, B, C, D, 1); %! [K, ~, GAM] = hinfsyn (P, 2, 2, "gmax", 1000, "tolgam", 1e-4); %! M = [K.A, K.B; K.C, K.D]; %! %! KA = [-18.0030 52.0376 26.0831 -0.4271 -40.9022 18.0857 %! 18.8203 -57.6244 -29.0938 0.5870 45.3309 -19.8644 %! -26.5994 77.9693 39.0368 -1.4020 -60.1129 26.6910 %! -21.4163 62.1719 30.7507 -0.9201 -48.6221 21.8351 %! -0.8911 4.2787 2.3286 -0.2424 -3.0376 1.2169 %! -5.3286 16.1955 8.4824 -0.2489 -12.2348 5.1590]; %! %! KB = [ 16.9788 14.1648 %! -18.9215 -15.6726 %! 25.2046 21.2848 %! 20.1122 16.8322 %! 1.4104 1.2040 %! 5.3181 4.5149]; %! %! KC = [ -9.1941 27.5165 13.7364 -0.3639 -21.5983 9.6025 %! 3.6490 -10.6194 -5.2772 0.2432 8.1108 -3.6293]; %! %! KD = [ 9.0317 7.5348 %! -3.4006 -2.8219]; %! %! M_exp = [KA, KB; KC, KD]; %! GAM_exp = 111.294; %! %!assert (M, M_exp, 1e-1); %!assert (GAM, GAM_exp, 1e-3); control-3.2.0/inst/PaxHeaders.3947/__modred_ab09id__.m0000644000000000000000000000013013450727360017215 xustar0029 mtime=1554231024.38142069 29 atime=1554231024.38142069 30 ctime=1554231028.525576056 control-3.2.0/inst/__modred_ab09id__.m0000644000175000017500000001327613450727360017471 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{Gr}, @var{info}] =} __modred_ab09id__ (@var{method}, @dots{}) ## Backend for btamodred and spamodred. ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2011 ## Version: 0.1 function [Gr, info] = __modred_ab09id__ (method, varargin) if (nargin < 2) print_usage (); endif if (method != "bta" && method != "spa") error ("modred: invalid method"); endif G = varargin{1}; varargin = varargin(2:end); if (! isa (G, "lti")) error ("%smodred: first argument must be an LTI system", method); endif if (nargin > 2) # *modred (G, ...) if (is_real_scalar (varargin{1})) # *modred (G, nr) varargin = horzcat (varargin(2:end), {"order"}, varargin(1)); endif if (isstruct (varargin{1})) # *modred (G, opt, ...), *modred (G, nr, opt, ...) varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end)); endif ## order placed at the end such that nr from *modred (G, nr, ...) ## and *modred (G, nr, opt, ...) overrides possible nr's from ## key/value-pairs and inside opt struct (later keys override former keys, ## nr > key/value > opt) endif nkv = numel (varargin); # number of keys and values if (rem (nkv, 2)) error ("%smodred: keys and values must come in pairs", method); endif [a, b, c, d, tsam, scaled] = ssdata (G); [p, m] = size (G); dt = isdt (G); ## default arguments alpha = __modred_default_alpha__ (dt); av = bv = cv = dv = []; jobv = 0; aw = bw = cw = dw = []; jobw = 0; alphac = alphao = 0.0; tol1 = 0.0; tol2 = 0.0; jobc = jobo = 0; bf = true; # balancing-free weight = 1; equil = 0; ordsel = 1; nr = 0; ## handle keys and values for k = 1 : 2 : nkv key = lower (varargin{k}); val = varargin{k+1}; switch (key) case {"left", "output", "v"} [av, bv, cv, dv, jobv] = __modred_check_weight__ (val, dt, p, []); case {"right", "input", "w"} [aw, bw, cw, dw, jobw] = __modred_check_weight__ (val, dt, [], m); case {"order", "n", "nr"} [nr, ordsel] = __modred_check_order__ (val, rows (a)); case "tol1" tol1 = __modred_check_tol__ (val, "tol1"); case "tol2" tol2 = __modred_check_tol__ (val, "tol2"); case "alpha" alpha = __modred_check_alpha__ (val, dt); case "method" switch (tolower (val)) case "sr" bf = false; case "bfsr" bf = true; otherwise error ("modred: '%s' is an invalid approach", val); endswitch case {"jobc", "gram-ctrb"} jobc = __modred_check_gram__ (val, "gram-ctrb"); case {"jobo", "gram-obsv"} jobo = __modred_check_gram__ (val, "gram-obsv"); case {"alphac", "alpha-ctrb"} alphac = __modred_check_alpha_gram__ (val, "alpha-ctrb"); case {"alphao", "alpha-obsv"} alphao = __modred_check_alpha_gram__ (val, "alpha-obsv"); case {"equil", "equilibrate", "equilibration", "scale", "scaling"} scaled = __modred_check_equil__ (val); otherwise warning ("%smodred: invalid property name '%s' ignored", method, key); endswitch endfor ## handle type of frequency weighting if (jobv && jobw) weight = 3; # 'B': both left and right weightings V and W are used elseif (jobv) weight = 1; # 'L': only left weighting V is used (W = I) elseif (jobw) weight = 2; # 'R': only right weighting W is used (V = I) else weight = 0; # 'N': no weightings are used (V = I, W = I) endif ## handle model reduction approach if (strcmpi (method, "bta") && ! bf) # 'B': use the square-root Balance & Truncate method job = 0; elseif (strcmpi (method, "bta") && bf) # 'F': use the balancing-free square-root Balance & Truncate method job = 1; elseif (strcmpi (method, "spa") && ! bf) # 'S': use the square-root Singular Perturbation Approximation method job = 2; elseif (strcmpi (method, "spa") && bf) # 'P': use the balancing-free square-root Singular Perturbation Approximation method job = 3; else error ("modred: invalid job option"); # this should never happen endif ## perform model order reduction [ar, br, cr, dr, nr, hsv, ns] = __sl_ab09id__ (a, b, c, d, dt, equil, nr, ordsel, alpha, job, ... av, bv, cv, dv, ... aw, bw, cw, dw, ... weight, jobc, jobo, alphac, alphao, ... tol1, tol2); ## assemble reduced order model Gr = ss (ar, br, cr, dr, tsam); ## assemble info struct info = struct ("nr", nr, "ns", ns, "hsv", hsv); endfunction control-3.2.0/inst/PaxHeaders.3947/db2mag.m0000644000000000000000000000013213450727360015155 xustar0030 mtime=1554231024.457423593 30 atime=1554231024.457423593 30 ctime=1554231028.525576056 control-3.2.0/inst/db2mag.m0000644000175000017500000000261313450727360015420 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{mag} =} db2mag (@var{db}) ## Convert Decibels (dB) to Magnitude. ## ## @strong{Inputs} ## @table @var ## @item db ## Decibel (dB) value(s). Both real-valued scalars and matrices are accepted. ## @end table ## ## @strong{Outputs} ## @table @var ## @item mag ## Magnitude value(s). ## @end table ## ## @seealso{mag2db} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2012 ## Version: 0.1 function mag = db2mag (db) if (nargin != 1 || ! is_real_matrix (db)) print_usage (); endif mag = 10.^(db./20); endfunction %!assert (db2mag (40), 100); %!assert (db2mag (-20), 0.1); control-3.2.0/inst/PaxHeaders.3947/arx.m0000644000000000000000000000013213450727360014613 xustar0030 mtime=1554231024.433422676 30 atime=1554231024.433422676 30 ctime=1554231028.525576056 control-3.2.0/inst/arx.m0000644000175000017500000002552013450727360015060 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{sys}, @var{x0}] =} arx (@var{dat}, @var{n}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} arx (@var{dat}, @var{n}, @var{opt}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} arx (@var{dat}, @var{opt}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} arx (@var{dat}, @var{'na'}, @var{na}, @var{'nb'}, @var{nb}) ## Estimate ARX model using QR factorization. ## @iftex ## @tex ## $$ A(q) \\, y(t) = B(q) \\, u(t) \\, + \\, e(t) $$ ## @end tex ## @end iftex ## @ifnottex ## ## @example ## A(q) y(t) = B(q) u(t) + e(t) ## @end example ## ## @end ifnottex ## ## @strong{Inputs} ## @table @var ## @item dat ## iddata identification dataset containing the measurements, i.e. time-domain signals. ## @item n ## The desired order of the resulting model @var{sys}. ## @item @dots{} ## Optional pairs of keys and values. @code{'key1', value1, 'key2', value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## ## @strong{Outputs} ## @table @var ## @item sys ## Discrete-time transfer function model. ## If the second output argument @var{x0} is returned, ## @var{sys} becomes a state-space model. ## @item x0 ## Initial state vector. If @var{dat} is a multi-experiment dataset, ## @var{x0} becomes a cell vector containing an initial state vector ## for each experiment. ## @end table ## ## ## @strong{Option Keys and Values} ## @table @var ## @item 'na' ## Order of the polynomial A(q) and number of poles. ## ## @item 'nb' ## Order of the polynomial B(q)+1 and number of zeros+1. ## @var{nb} <= @var{na}. ## ## @item 'nk' ## Input-output delay specified as number of sampling instants. ## Scalar positive integer. This corresponds to a call to function ## @command{nkshift}, followed by padding the B polynomial with ## @var{nk} leading zeros. ## @end table ## ## ## @strong{Algorithm}@* ## Uses the formulae given in [1] on pages 318-319, ## 'Solving for the LS Estimate by QR Factorization'. ## For the initial conditions, SLICOT IB01CD is used by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @strong{References}@* ## [1] Ljung, L. (1999) ## @cite{System Identification: Theory for the User: Second Edition}. ## Prentice Hall, New Jersey, USA. ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: April 2012 ## Version: 0.1 function [sys, varargout] = arx (dat, varargin) ## TODO: delays if (nargin < 2) print_usage (); endif if (! isa (dat, "iddata") || ! dat.timedomain) error ("arx: first argument must be a time-domain iddata dataset"); endif ## p: outputs, m: inputs, ex: experiments [~, p, m, ex] = size (dat); # dataset dimensions if (is_real_scalar (varargin{1})) # arx (dat, n, ...) varargin = horzcat (varargin(2:end), {"na"}, varargin(1), {"nb"}, varargin(1)); endif if (isstruct (varargin{1})) # arx (dat, opt, ...), arx (dat, n, opt, ...) varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end)); endif nkv = numel (varargin); # number of keys and values if (rem (nkv, 2)) error ("arx: keys and values must come in pairs"); endif ## default arguments na = []; nb = []; nk = 0; ## handle keys and values for k = 1 : 2 : nkv key = lower (varargin{k}); val = varargin{k+1}; switch (key) case "na" na = __check_n__ (val, "na"); case "nb" nb = __check_n__ (val, "nb"); case "nk" nk = __check_n__ (val, "nk"); if (! issample (val, 0)) error ("arx: channel-wise 'nk' matrices not supported yet"); endif otherwise warning ("arx: invalid property name '%s' ignored", key); endswitch endfor if (any (nk(:) != 0)) dat = nkshift (dat, nk); endif ## extract data Y = dat.y; U = dat.u; tsam = dat.tsam; ## multi-experiment data requires equal sampling times if (ex > 1 && ! isequal (tsam{:})) error ("arx: require equally sampled experiments"); else tsam = tsam{1}; endif if (is_real_scalar (na, nb)) na = repmat (na, p, 1); # na(p-by-1) nb = repmat (nb, p, m); # nb(p-by-m) elseif (! (is_real_vector (na) && is_real_matrix (nb) ... && rows (na) == p && rows (nb) == p && columns (nb) == m)) error ("arx: require na(%dx1) instead of (%dx%d) and nb(%dx%d) instead of (%dx%d)", ... p, rows (na), columns (na), p, m, rows (nb), columns (nb)); endif max_nb = max (nb, [], 2); # one maximum for each row/output, max_nb(p-by-1) n = max (na, max_nb); # n(p-by-1) ## create empty cells for numerator and denominator polynomials num = cell (p, m+p); den = cell (p, m+p); ## MIMO (p-by-m) models are identified as p MISO (1-by-m) models ## For multi-experiment data, minimize the trace of the error for i = 1 : p # for every output Phi = cell (ex, 1); # one regression matrix per experiment for e = 1 : ex # for every experiment ## avoid warning: toeplitz: column wins anti-diagonal conflict ## therefore set first row element equal to y(1) PhiY = toeplitz (Y{e}(1:end-1, i), [Y{e}(1, i); zeros(na(i)-1, 1)]); ## create MISO Phi for every experiment PhiU = arrayfun (@(x) toeplitz (U{e}(1:end-1, x), [U{e}(1, x); zeros(nb(i,x)-1, 1)]), 1:m, "uniformoutput", false); Phi{e} = (horzcat (-PhiY, PhiU{:}))(n(i):end, :); endfor ## compute parameter vector Theta Theta = __theta__ (Phi, Y, i, n); ## extract polynomial matrices A and B from Theta ## A is a scalar polynomial for output i, i=1:p ## B is polynomial row vector (1-by-m) for output i A = [1; Theta(1:na(i))]; # a0 = 1, a1 = Theta(1), an = Theta(n) ThetaB = Theta(na(i)+1:end); # all polynomials from B are in one column vector B = mat2cell (ThetaB, nb(i,:)); # now separate the polynomials, one for each input B = reshape (B, 1, []); # make B a row cell (1-by-m) B = cellfun (@(B) [zeros(1+nk, 1); B], B, "uniformoutput", false); # b0 = 0 (leading zero required by filt) ## add error inputs Be = repmat ({0}, 1, p); # there are as many error inputs as system outputs (p) Be(i) = [zeros(1,nk), 1]; # inputs m+1:m+p are zero, except m+i which is one num(i, :) = [B, Be]; # numerator polynomials for output i, individual for each input den(i, :) = repmat ({A}, 1, m+p); # in a row (output i), all inputs have the same denominator polynomial endfor ## A(q) y(t) = B(q) u(t) + e(t) ## there is only one A per row ## B(z) and A(z) are a Matrix Fraction Description (MFD) ## y = A^-1(q) B(q) u(t) + A^-1(q) e(t) ## since A(q) is a diagonal polynomial matrix, its inverse is trivial: ## the corresponding transfer function has common row denominators. sys = filt (num, den, tsam); # filt creates a transfer function in z^-1 ## compute initial state vector x0 if requested ## this makes only sense for state-space models, therefore convert TF to SS if (nargout > 1) sys = prescale (ss (sys(:,1:m))); x0 = __sl_ib01cd__ (Y, U, sys.a, sys.b, sys.c, sys.d, 0.0); ## return x0 as vector for single-experiment data ## instead of a cell containing one vector if (numel (x0) == 1) x0 = x0{1}; endif varargout{1} = x0; endif endfunction function Theta = __theta__ (Phi, Y, i, n) if (numel (Phi) == 1) # single-experiment dataset ## use "square-root algorithm" A = horzcat (Phi{1}, Y{1}(n(i)+1:end, i)); # [Phi, Y] R0 = triu (qr (A, 0)); # 0 for economy-size R (without zero rows) R1 = R0(1:end-1, 1:end-1); # R1 is triangular - can we exploit this in R1\R2? R2 = R0(1:end-1, end); Theta = __ls_svd__ (R1, R2); # R1 \ R2 ## Theta = Phi \ Y(n+1:end, :); # naive formula ## Theta = __ls_svd__ (Phi{1}, Y{1}(n(i)+1:end, i)); else # multi-experiment dataset ## TODO: find more sophisticated formula than ## Theta = (Phi1' Phi1 + Phi2' Phi2 + ...) \ (Phi1' Y1 + Phi2' Y2 + ...) ## covariance matrix C = (Phi1' Phi + Phi2' Phi2 + ...) tmp = cellfun (@(Phi) Phi.' * Phi, Phi, "uniformoutput", false); ## rc = cellfun (@rcond, tmp); # also test C? QR or SVD? C = plus (tmp{:}); ## PhiTY = (Phi1' Y1 + Phi2' Y2 + ...) tmp = cellfun (@(Phi, Y) Phi.' * Y(n(i)+1:end, i), Phi, Y, "uniformoutput", false); PhiTY = plus (tmp{:}); ## pseudoinverse Theta = C \ Phi'Y Theta = __ls_svd__ (C, PhiTY); endif endfunction function x = __ls_svd__ (A, b) ## solve the problem Ax=b ## x = A\b would also work, ## but this way we have better control and warnings ## solve linear least squares problem by pseudoinverse ## the pseudoinverse is computed by singular value decomposition ## M = U S V* ---> M+ = V S+ U* ## Th = Ph \ Y = Ph+ Y ## Th = V S+ U* Y, S+ = 1 ./ diag (S) [U, S, V] = svd (A, 0); # 0 for "economy size" decomposition S = diag (S); # extract main diagonal r = sum (S > eps*S(1)); if (r < length (S)) warning ("arx: rank-deficient coefficient matrix"); warning ("sampling time too small"); warning ("persistence of excitation"); endif V = V(:, 1:r); S = S(1:r); U = U(:, 1:r); x = V * (S .\ (U' * b)); # U' is the conjugate transpose endfunction function val = __check_n__ (val, str = "n") if (! is_real_matrix (val) || fix (val) != val) error ("arx: argument '%s' must be a positive integer", str); endif endfunction control-3.2.0/inst/PaxHeaders.3947/fitfrd.m0000644000000000000000000000013213450727360015277 xustar0030 mtime=1554231024.485424661 30 atime=1554231024.485424661 30 ctime=1554231028.525576056 control-3.2.0/inst/fitfrd.m0000644000175000017500000000567513450727360015555 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{sys}, @var{n}] =} fitfrd (@var{dat}, @var{n}) ## @deftypefnx{Function File} {[@var{sys}, @var{n}] =} fitfrd (@var{dat}, @var{n}, @var{flag}) ## Fit frequency response data with a state-space system. ## If requested, the returned system is stable and minimum-phase. ## ## @strong{Inputs} ## @table @var ## @item dat ## @acronym{LTI} model containing frequency response data of a SISO system. ## @item n ## The desired order of the system to be fitted. @code{n <= length(dat.w)}. ## @item flag ## The flag controls whether the returned system is stable and minimum-phase. ## @table @var ## @item 0 ## The system zeros and poles are not constrained. Default value. ## @item 1 ## The system zeros and poles will have negative real parts in the ## continuous-time case, or moduli less than 1 in the discrete-time case. ## @end table ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## State-space model of order @var{n}, fitted to frequency response data @var{dat}. ## @item n ## The order of the obtained system. The value of @var{n} ## could only be modified if inputs @code{n > 0} and @code{flag = 1}. ## @end table ## ## @strong{Algorithm}@* ## Uses SLICOT SB10YD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2011 ## Version: 0.1 function [sys, n] = fitfrd (dat, n, flag = 0) if (nargin == 0 || nargin > 3) print_usage (); endif if (! isa (dat, "frd")) dat = frd (dat); endif if (! issiso (dat)) error ("fitfrd: require SISO system"); endif if (! issample (n, 0) || n != round (n)) error ("fitfrd: second argument must be an integer >= 0"); endif [H, w, tsam] = frdata (dat, "vector"); dt = isdt (dat); if (n > length (w)) error ("fitfrd: require n <= length (dat.w)"); endif [a, b, c, d, n] = __sl_sb10yd__ (real (H), imag (H), w, n, dt, logical (flag)); sys = ss (a, b, c, d, tsam); endfunction %!shared Yo, Ye %! SYS = ss (-1, 1, 1, 0); %! T = 0:0.1:50; %! Ye = step (SYS, T); %! W = logspace (-2, 2, 100); %! FR = frd (SYS, W); %! N = 1; %! SYSID = fitfrd (FR, N, 1); %! Yo = step (SYSID, T); %!assert (Yo, Ye, 1e-2); control-3.2.0/inst/PaxHeaders.3947/obsvf.m0000644000000000000000000000013213450727360015140 xustar0030 mtime=1554231024.565427715 30 atime=1554231024.565427715 30 ctime=1554231028.525576056 control-3.2.0/inst/obsvf.m0000644000175000017500000000516313450727360015406 0ustar00olafolaf00000000000000## Copyright (C) 2010 Benjamin Fernandez ## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{sysbar}, @var{T}, @var{K}] =} obsvf (@var{sys}) ## @deftypefnx{Function File} {[@var{sysbar}, @var{T}, @var{K}] =} obsvf (@var{sys}, @var{tol}) ## @deftypefnx{Function File} {[@var{Abar}, @var{Bbar}, @var{Cbar}, @var{T}, @var{K}] =} obsvf (@var{A}, @var{B}, @var{C}) ## @deftypefnx{Function File} {[@var{Abar}, @var{Bbar}, @var{Cbar}, @var{T}, @var{K}] =} obsvf (@var{A}, @var{B}, @var{C}, @var{TOL}) ## If Ob=obsv(A,C) has rank r <= n = SIZE(A,1), then there is a ## similarity transformation Tc such that To = [t1;t2] where t1 is c ## and t2 is orthogonal to t1 ## ## @example ## @group ## Abar = To \\ A * To , Bbar = To \\ B , Cbar = C * To ## @end group ## @end example ## ## and the transformed system has the form ## ## @example ## @group ## | Ao 0 | | Bo | ## Abar = |----------|, Bbar = | --- |, Cbar = [Co | 0 ]. ## | A21 Ano| | Bno | ## @end group ## @end example ## ## where (Ao,Bo) is observable, and Co(sI-Ao)^(-1)Bo = C(sI-A)^(-1)B. And ## system is detectable if Ano has no eigenvalues in the right ## half plane. The last output K is a vector of length n containing the ## number of observable states. ## @end deftypefn ## Author: Benjamin Fernandez ## Created: 2010-05-02 ## Version: 0.1 function [ac, bc, cc, z, ncont] = obsvf (a, b = [], c, tol = []) if (nargin < 1 || nargin > 4) print_usage (); endif if (isa (a, "lti")) if (nargin > 2) print_usage (); endif [ac, bc, cc] = ctrbf (a.', b); # [sysbar, z, ncont] = ctrbf (sys.', tol); ac = ac.'; z = ncont = []; else if (nargin < 3) print_usage (); endif [ac, tmp, cc, z, ncont] = ctrbf (a.', c.', b.', tol); ac = ac.'; bc = cc.'; cc = tmp.'; endif endfunction control-3.2.0/inst/PaxHeaders.3947/dlqe.m0000644000000000000000000000013213450727360014746 xustar0030 mtime=1554231024.461423745 30 atime=1554231024.461423745 30 ctime=1554231028.525576056 control-3.2.0/inst/dlqe.m0000644000175000017500000000733213450727360015214 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## Copyright (C) 2012 Megan Zagrobelny ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{m}, @var{p}, @var{z}, @var{e}] =} dlqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{m}, @var{p}, @var{z}, @var{e}] =} dlqe (@var{a}, @var{g}, @var{c}, @var{q}, @var{r}, @var{s}) ## @deftypefnx {Function File} {[@var{m}, @var{p}, @var{z}, @var{e}] =} dlqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{m}, @var{p}, @var{z}, @var{e}] =} dlqe (@var{a}, @var{[]}, @var{c}, @var{q}, @var{r}, @var{s}) ## Kalman filter for discrete-time systems. ## ## @example ## @group ## x[k] = Ax[k] + Bu[k] + Gw[k] (State equation) ## y[k] = Cx[k] + Du[k] + v[k] (Measurement Equation) ## E(w) = 0, E(v) = 0, cov(w) = Q, cov(v) = R, cov(w,v) = S ## @end group ## @end example ## ## @strong{Inputs} ## @table @var ## @item a ## State transition matrix of discrete-time system (n-by-n). ## @item g ## Process noise matrix of discrete-time system (n-by-g). ## If @var{g} is empty @code{[]}, an identity matrix is assumed. ## @item c ## Measurement matrix of discrete-time system (p-by-n). ## @item q ## Process noise covariance matrix (g-by-g). ## @item r ## Measurement noise covariance matrix (p-by-p). ## @item s ## Optional cross term covariance matrix (g-by-p), s = cov(w,v). ## If @var{s} is empty @code{[]} or not specified, a zero matrix is assumed. ## @end table ## ## @strong{Outputs} ## @table @var ## @item m ## Kalman filter gain matrix (n-by-p). ## @item p ## Unique stabilizing solution of the discrete-time Riccati equation (n-by-n). ## Symmetric matrix. ## @item z ## Error covariance (n-by-n), cov(x(k|k)-x) ## @item e ## Closed-loop poles (n-by-1). ## @end table ## ## @strong{Equations} ## @example ## @group ## x[k|k] = x[k|k-1] + M(y[k] - Cx[k|k-1] - Du[k]) ## ## x[k+1|k] = Ax[k|k] + Bu[k] for S=0 ## ## x[k+1|k] = Ax[k|k] + Bu[k] + G*S*(C*P*C' + R)^-1*(y[k] - C*x[k|k-1]) for non-zero S ## ## ## E = eig(A - A*M*C) for S=0 ## ## E = eig(A - A*M*C - G*S*(C*P*C' + Rv)^-1*C) for non-zero S ## ## @end group ## @end example ## @seealso{dare, care, dlqr, lqr, lqe} ## @end deftypefn ## Author: Lukas Reichlin ## Created: April 2012 ## Version: 0.1 function [m, p, z, e] = dlqe (a, g, c, q, r, s = []) if (nargin < 5 || nargin > 6) print_usage (); endif if (isempty (g)) [p, e] = dare (a.', c.', q, r, s); # dlqe (a, [], c, q, r, s), g=I elseif (columns (g) != rows (q) || ! issquare (q)) error ("dlqe: matrices g(%dx%d) and q(%dx%d) have incompatible dimensions", ... rows (g), columns (g), rows (q), columns (q)); elseif (isempty (s)) [p, e] = dare (a.', c.', g*q*g.', r); elseif (columns (g) != rows (s)) error ("dlqe: matrices g(%dx%d) and s(%dx%d) have incompatible dimensions", ... rows (g), columns (g), rows (s), columns (s)); else [p, e] = dare (a.', c.', g*q*g.', r, g*s); endif m = p*c.' / (c*p*c.' + r); z = p - m*c*p; z = (z + z.') / 2; endfunction control-3.2.0/inst/PaxHeaders.3947/pid.m0000644000000000000000000000013213450727360014575 xustar0030 mtime=1554231024.569427868 30 atime=1554231024.569427868 30 ctime=1554231028.525576056 control-3.2.0/inst/pid.m0000644000175000017500000000412213450727360015035 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{C} =} pid (@var{Kp}) ## @deftypefnx{Function File} {@var{C} =} pid (@var{Kp}, @var{Ki}) ## @deftypefnx{Function File} {@var{C} =} pid (@var{Kp}, @var{Ki}, @var{Kd}) ## @deftypefnx{Function File} {@var{C} =} pid (@var{Kp}, @var{Ki}, @var{Kd}, @var{Tf}) ## @deftypefnx{Function File} {@var{C} =} pid (@var{Kp}, @var{Ki}, @var{Kd}, @var{Tf}, @var{Ts}) ## Return the transfer function @var{C} of the @acronym{PID} controller ## in parallel form with first-order roll-off. ## With a valid @var{Ts} a discrete-time system is created. ## ## @example ## @group ## Ki Kd s ## C(s) = Kp + ---- + -------- ## s Tf s + 1 ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: June 2015 ## Version: 0.1 ## TODO: dozens of options, ... ## If you wish to kill time with this repetitive task, ## I'm happy to add your work :-) function C = pid (Kp = 1, Ki = 0, Kd = 0, Tf = 0, Ts = 0) if (! is_real_scalar (Kp, Ki, Kd, Tf, Ts) || nargin > 5 ) print_usage (); endif if (Kd == 0) # catch cases like pid (2, 0, 0, 3) Tf = 0; endif if (Ki == 0) # minimal realization if num(3) == 0 and den(3) == 0 C = tf ([Kp*Tf+Kd, Kp], [Tf, 1], Ts); else C = tf ([Kp*Tf+Kd, Kp+Ki*Tf, Ki], [Tf, 1, 0], Ts); endif endfunction control-3.2.0/inst/PaxHeaders.3947/augw.m0000644000000000000000000000013213450727360014764 xustar0030 mtime=1554231024.437422828 30 atime=1554231024.437422828 30 ctime=1554231028.525576056 control-3.2.0/inst/augw.m0000644000175000017500000001235113450727360015227 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{P} =} augw (@var{G}, @var{W1}, @var{W2}, @var{W3}) ## Extend plant for stacked S/KS/T problem. Subsequently, the robust control problem ## can be solved by h2syn or hinfsyn. ## ## @strong{Inputs} ## @table @var ## @item G ## @acronym{LTI} model of plant. ## @item W1 ## @acronym{LTI} model of performance weight. Bounds the largest singular values of sensitivity @var{S}. ## Model must be empty @code{[]}, SISO or of appropriate size. ## @item W2 ## @acronym{LTI} model to penalize large control inputs. Bounds the largest singular values of @var{KS}. ## Model must be empty @code{[]}, SISO or of appropriate size. ## @item W3 ## @acronym{LTI} model of robustness and noise sensitivity weight. Bounds the largest singular values of ## complementary sensitivity @var{T}. Model must be empty @code{[]}, SISO or of appropriate size. ## @end table ## ## All inputs must be proper/realizable. ## Scalars, vectors and matrices are possible instead of @acronym{LTI} models. ## ## @strong{Outputs} ## @table @var ## @item P ## State-space model of augmented plant. ## @end table ## ## @strong{Block Diagram} ## @example ## @group ## ## | W1 | -W1*G | z1 = W1 r - W1 G u ## | 0 | W2 | z2 = W2 u ## P = | 0 | W3*G | z3 = W3 G u ## |----+-------| ## | I | -G | e = r - G u ## @end group ## @end example ## @example ## @group ## +------+ z1 ## +---------------------------------------->| W1 |-----> ## | +------+ ## | +------+ z2 ## | +---------------------->| W2 |-----> ## | | +------+ ## r + e | +--------+ u | +--------+ y +------+ z3 ## ----->(+)---+-->| K(s) |----+-->| G(s) |----+---->| W3 |-----> ## ^ - +--------+ +--------+ | +------+ ## | | ## +----------------------------------------+ ## @end group ## @end example ## @example ## @group ## +--------+ ## | |-----> z1 (p1x1) z1 = W1 e ## r (px1) ----->| P(s) |-----> z2 (p2x1) z2 = W2 u ## | |-----> z3 (p3x1) z3 = W3 y ## u (mx1) ----->| |-----> e (px1) e = r - y ## +--------+ ## @end group ## @end example ## @example ## @group ## +--------+ ## r ----->| |-----> z ## | P(s) | ## u +---->| |-----+ e ## | +--------+ | ## | | ## | +--------+ | ## +-----| K(s) |<----+ ## +--------+ ## @end group ## @end example ## ## @strong{References}@* ## [1] Skogestad, S. and Postlethwaite I. (2005) ## @cite{Multivariable Feedback Control: Analysis and Design: ## Second Edition}. Wiley. ## ## @seealso{h2syn, hinfsyn, mixsyn} ## @end deftypefn ## Author: Lukas Reichlin ## Created: December 2009 ## Version: 0.4 function P = augw (G, W1 = [], W2 = [], W3 = []) if (nargin == 0 || nargin > 4) print_usage (); endif G = ss (G); [p, m] = size (G); [W1, p1, m1] = __adjust_weighting__ (W1, p); [W2, p2, m2] = __adjust_weighting__ (W2, m); [W3, p3, m3] = __adjust_weighting__ (W3, p); ## Pr = [1; 0; 0; 1]; ## Pu = [-1; 0; 1; -1]*G + [0; 1; 0; 0]; Pr = ss ([eye(m1,p) ; zeros(m2,p); zeros(m3,p); eye(p,p) ]); Pu1 = ss ([-eye(m1,p) ; zeros(m2,p); eye(m3,p) ; -eye(p,p) ]); Pu2 = ss ([zeros(m1,m); eye(m2,m) ; zeros(m3,m); zeros(p,m) ]); Pu = Pu1 * G + Pu2; P = blkdiag (W1, W2, W3, eye (p, p)) * [Pr, Pu]; P = mktito (P, p, m); endfunction function [W, p, m] = __adjust_weighting__ (W, s) W = ss (W); [p, m] = size (W); if (m == 0 || m == s) # model is empty or has s inputs return; elseif (m == 1) # model is SISO or SIMO tmp = cell (s, 1); tmp(1:s) = W; W = blkdiag (tmp{:}); # stack single-input model s times [p, m] = size (W); # weighting function now of correct size else # model is MIMO or MISO error ("augw: %s must have 1 or %d inputs", inputname (1), s); endif endfunction control-3.2.0/inst/PaxHeaders.3947/@iddata0000644000000000000000000000013213450727360015114 xustar0030 mtime=1554231024.137411375 30 atime=1554231028.525576056 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/0000755000175000017500000000000013450727360015432 5ustar00olafolaf00000000000000control-3.2.0/inst/@iddata/PaxHeaders.3947/get.m0000644000000000000000000000013213450727360016126 xustar0030 mtime=1554231024.125410917 30 atime=1554231024.121410764 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/get.m0000644000175000017500000000530013450727360016365 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {} get (@var{dat}) ## @deftypefnx {Function File} {@var{value} =} get (@var{dat}, @var{'key'}) ## @deftypefnx {Function File} {[@var{val1}, @var{val2}, @dots{}] =} get (@var{dat}, @var{'key1'}, @var{'key2'}, @dots{}) ## Access key values of iddata objects. ## Type @command{get(dat)} to display a list of available keys. ## @end deftypefn ## Author: Lukas Reichlin ## Created: February 2012 ## Version: 0.2 function varargout = get (dat, varargin) if (nargin == 1) [keys, vals] = __iddata_keys__ (dat); nrows = numel (keys); str = strjust (strvcat (keys), "right"); str = horzcat (repmat (" ", nrows, 1), str, repmat (": ", nrows, 1), strvcat (vals)); disp (str); else if (! isa (dat, "iddata")) print_usage (); endif keys = __iddata_keys__ (dat, true); for k = 1 : (nargin-1) key = __match_key__ (varargin{k}, keys, "iddata: get"); switch (key) case {"y", "outdata", "outputdata"} val = dat.y; case {"u", "indata", "inputdata"} val = dat.u; case {"outname", "outputname"} val = dat.outname; case {"inname", "inputname"} val = dat.inname; case {"outunit", "outputunit"} val = dat.outunit; case {"inunit", "inputunit"} val = dat.inunit; case {"tsam"} val = dat.tsam; case {"timeunit"} val = dat.timeunit; case {"expname", "experimentname"} val = dat.expname; case "name" val = dat.name; case "notes" val = dat.notes; case "userdata" val = dat.userdata; case {"domain", "timedomain"} val = dat.timedomain; case {"w", "frequency", "samplinginstants"} val = dat.w; otherwise error ("iddata: get: invalid key name '%s'", varargin{k}); endswitch varargout{k} = val; endfor endif endfunctioncontrol-3.2.0/inst/@iddata/PaxHeaders.3947/subsref.m0000644000000000000000000000013213450727360017020 xustar0030 mtime=1554231024.137411375 30 atime=1554231024.137411375 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/subsref.m0000644000175000017500000000520213450727360017260 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Subscripted reference for iddata objects. ## Used by Octave for "dat = dat(2:4, :)" or "val = dat.prop". ## Author: Lukas Reichlin ## Created: February 2012 ## Version: 0.3 function a = subsref (a, s) if (numel (s) == 0) return; endif switch (s(1).type) case "()" idx = s(1).subs; if (numel (idx) > 4) error ("iddata: subsref: need four or less indices"); else a = __dat_prune__ (a, idx{:}); endif case "." fld = s(1).subs; a = get (a, fld); otherwise error ("iddata: subsref: invalid subscript type"); endswitch a = subsref (a, s(2:end)); endfunction function dat = __dat_prune__ (dat, spl_idx = ":", out_idx = ":", in_idx = ":", exp_idx = ":") out_idx = __handle_idx__ (dat.outname, out_idx, "outname"); in_idx = __handle_idx__ (dat.inname, in_idx, "inname"); exp_idx = __handle_idx__ (dat.expname, exp_idx, "expname"); dat.y = dat.y(exp_idx); dat.y = cellfun (@(y) y(spl_idx, out_idx), dat.y, "uniformoutput", false); dat.outname = dat.outname(out_idx); dat.outunit = dat.outunit(out_idx); if (! isempty (dat.u)) dat.u = dat.u(exp_idx); dat.u = cellfun (@(u) u(spl_idx, in_idx), dat.u, "uniformoutput", false); dat.inname = dat.inname(in_idx); dat.inunit = dat.inunit(in_idx); endif dat.expname = dat.expname(exp_idx); dat.tsam = dat.tsam(exp_idx); endfunction function idx = __handle_idx__ (name, idx, id) if (ischar (idx) && ! strcmp (idx, ":")) idx = {idx}; endif if (iscell (idx)) idx = cellfun (@(x) __str2idx__ (name, x, id), idx); endif endfunction function idx = __str2idx__ (name, str, id) tmp = strcmp (name, str)(:); switch (nnz (tmp)) case 1 idx = find (tmp); case 0 error ("iddata: %s '%s' not found", id, str); otherwise error ("iddata: %s '%s' is ambiguous", id, str); endswitch endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/horzcat.m0000644000000000000000000000013213450727360017021 xustar0030 mtime=1554231024.125410917 30 atime=1554231024.125410917 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/horzcat.m0000644000175000017500000000253613450727360017270 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{dat} =} horzcat (@var{dat1}, @var{dat2}, @dots{}) ## Horizontal concatenation of iddata datasets. ## The outputs and inputs are concatenated in the following way: ## @code{dat.y@{e@} = [dat1.y@{e@}, dat2.y@{e@}, @dots{}]} ## @code{dat.u@{e@} = [dat1.u@{e@}, dat2.u@{e@}, @dots{}]} ## where @var{e} denotes the experiment. ## The number of experiments and samples must be equal for all datasets. ## @end deftypefn ## Author: Lukas Reichlin ## Created: March 2012 ## Version: 0.1 function dat = horzcat (varargin) dat = cat (2, varargin{:}); endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/merge.m0000644000000000000000000000013213450727360016446 xustar0030 mtime=1554231024.129411069 30 atime=1554231024.129411069 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/merge.m0000644000175000017500000000240613450727360016711 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{dat} =} merge (@var{dat1}, @var{dat2}, @dots{}) ## Concatenate experiments of iddata datasets. ## The experiments are concatenated in the following way: ## @code{dat.y = [dat1.y; dat2.y; @dots{}]} ## @code{dat.u = [dat1.u; dat2.u; @dots{}]} ## The number of outputs and inputs must be equal for all datasets. ## @end deftypefn ## Author: Lukas Reichlin ## Created: March 2012 ## Version: 0.1 function dat = merge (varargin) dat = cat (3, varargin{:}); endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/iddata.m0000644000000000000000000000013213450727360016575 xustar0030 mtime=1554231024.125410917 30 atime=1554231024.125410917 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/iddata.m0000644000175000017500000001171013450727360017036 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{dat} =} iddata (@var{y}) ## @deftypefnx{Function File} {@var{dat} =} iddata (@var{y}, @var{u}) ## @deftypefnx{Function File} {@var{dat} =} iddata (@var{y}, @var{u}, @var{tsam}, @dots{}) ## @deftypefnx{Function File} {@var{dat} =} iddata (@var{y}, @var{u}, @var{[]}, @dots{}) ## Create identification dataset of output and input signals. ## ## @strong{Inputs} ## @table @var ## @item y ## Real matrix containing the output signal in time-domain. ## For a system with @var{p} outputs and @var{n} samples, ## @var{y} is a n-by-p matrix. ## For data from multiple experiments, @var{y} becomes a ## e-by-1 or 1-by-e cell vector of n(i)-by-p matrices, ## where @var{e} denotes the number of experiments ## and n(i) the individual number of samples for each experiment. ## @item u ## Real matrix containing the input signal in time-domain. ## For a system with @var{m} inputs and @var{n} samples, ## @var{u} is a n-by-m matrix. ## For data from multiple experiments, @var{u} becomes a ## e-by-1 or 1-by-e cell vector of n(i)-by-m matrices, ## where @var{e} denotes the number of experiments ## and n(i) the individual number of samples for each experiment. ## If @var{u} is not specified or an empty element @code{[]} is passed, ## @var{dat} becomes a time series dataset. ## @item tsam ## Sampling time. If not specified, default value -1 (unspecified) is taken. ## For multi-experiment data, @var{tsam} becomes a ## e-by-1 or 1-by-e cell vector containing individual ## sampling times for each experiment. If a scalar @var{tsam} ## is provided, then all experiments have the same sampling time. ## @item @dots{} ## Optional pairs of properties and values. ## @end table ## ## @strong{Outputs} ## @table @var ## @item dat ## iddata identification dataset. ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'expname' ## The name of the experiments in @var{dat}. ## Cell vector of length e containing strings. ## Default names are @code{@{'exp1', 'exp2', ...@}} ## ## @item 'y' ## Output signals. See 'Inputs' for details. ## ## @item 'outname' ## The name of the output channels in @var{dat}. ## Cell vector of length p containing strings. ## Default names are @code{@{'y1', 'y2', ...@}} ## ## @item 'outunit' ## The units of the output channels in @var{dat}. ## Cell vector of length p containing strings. ## ## @item 'u' ## Input signals. See 'Inputs' for details. ## ## @item 'inname' ## The name of the input channels in @var{dat}. ## Cell vector of length m containing strings. ## Default names are @code{@{'u1', 'u2', ...@}} ## ## @item 'inunit' ## The units of the input channels in @var{dat}. ## Cell vector of length m containing strings. ## ## @item 'tsam' ## Sampling time. See 'Inputs' for details. ## ## @item 'timeunit' ## The units of the sampling times in @var{dat}. ## Cell vector of length e containing strings. ## ## @item 'name' ## String containing the name of the dataset. ## ## @item 'notes' ## String or cell of string containing comments. ## ## @item 'userdata' ## Any data type. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2011 ## Version: 0.1 function dat = iddata (y = {}, u = {}, tsam = {}, varargin) if (nargin == 1 && isa (y, "iddata")) dat = y; return; elseif (nargin < 1) print_usage (); endif [y, u] = __adjust_iddata__ (y, u); [p, m, e] = __iddata_dim__ (y, u); tsam = __adjust_iddata_tsam__ (tsam, e); outname = repmat ({""}, p, 1); inname = repmat ({""}, m, 1); expname = repmat ({""}, e, 1); dat = struct ("y", {y}, "outname", {outname}, "outunit", {outname}, "u", {u}, "inname", {inname}, "inunit", {inname}, "tsam", {tsam}, "timeunit", {""}, "timedomain", true, "w", {{}}, "expname", {expname}, "name", "", "notes", {{}}, "userdata", []); dat = class (dat, "iddata"); if (nargin > 3) dat = set (dat, varargin{:}); endif if (dat.timedomain && ! is_real_matrix (dat.y{:}, dat.u{:})) error ("iddata: require real-valued input and output signals for time domain datasets"); endif endfunction %!error (iddata); %!error (iddata ((1:10).', (1:11).')); %!warning (iddata (1:10)); %!warning (iddata (1:10, 1:10)); control-3.2.0/inst/@iddata/PaxHeaders.3947/fft.m0000644000000000000000000000013213450727360016126 xustar0030 mtime=1554231024.121410764 30 atime=1554231024.121410764 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/fft.m0000644000175000017500000000662013450727360016373 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{dat} =} fft (@var{dat}) ## @deftypefnx {Function File} {@var{dat} =} fft (@var{dat}, @var{n}) ## Transform iddata objects from time to frequency domain ## using a Fast Fourier Transform (FFT) algorithm. ## ## @strong{Inputs} ## @table @var ## @item dat ## iddata set containing signals in time-domain. ## @item n ## Length of the FFT transformations. If @var{n} does not match ## the signal length, the signals in @var{dat} are shortened or ## padded with zeros. @var{n} is a vector with as many elements ## as there are experiments in @var{dat} or a scalar with a common ## length for all experiments. ## If not specified, the signal lengths are taken as default values. ## @end table ## ## @strong{Outputs} ## @table @var ## @item dat ## iddata identification dataset in frequency-domain. ## In order to preserve signal power and noise level, ## the FFTs are normalized by dividing each transform ## by the square root of the signal length. ## The frequency values are distributed equally from 0 ## to the Nyquist frequency. The Nyquist frequency is ## only included for even signal lengths. ## @end table ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: April 2012 ## Version: 0.1 function dat = fft (dat, n = []) if (nargin > 2 || ! isa (dat, "iddata")) # no need to test nargin == 0, this is handled by built-in fft print_usage (); endif if (! dat.timedomain) return; endif [x, ~, ~, e] = size (dat); if (isempty (n)) # default case, n not specified n = num2cell (x(:)); elseif (is_real_vector (n) && length (n) == e && fix (n) == n) # individual n for each experiment n = num2cell (n(:)); elseif (is_real_scalar (n) && fix (n) == n) # common n for all experiments n = num2cell (repmat (n, e, 1)); else error ("iddata: fft: second argument invalid"); endif dat.y = cellfun (@(y, n) fft (y, n, 1)(1:fix(n/2)+1, :) / sqrt (n), dat.y, n, "uniformoutput", false); dat.u = cellfun (@(u, n) fft (u, n, 1)(1:fix(n/2)+1, :) / sqrt (n), dat.u, n, "uniformoutput", false); ## fft (x, n, dim=1) because x could be a row vector (n=1) dat.w = cellfun (@(n, tsam) (0:fix(n/2)).' * (2*pi/abs(tsam)/n), n, dat.tsam, "uniformoutput", false); ## abs(tsam) because of -1 for undefined sampling times dat.timedomain = false; endfunction %!shared DATD, Y, U %! Y = 1:10; %! U = 20:-2:1; %! W = warning ("query", "iddata:transpose"); %! warning ("off", W.identifier); %! DAT = iddata (Y, U); %! DATD = fft (DAT); %! warning (W.identifier, W.state); %!assert (DATD.y{1}, Y, 1e-10); %!assert (DATD.u{1}, U, 1e-10); control-3.2.0/inst/@iddata/PaxHeaders.3947/resample.m0000644000000000000000000000013213450727360017157 xustar0030 mtime=1554231024.133411222 30 atime=1554231024.133411222 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/resample.m0000644000175000017500000000567113450727360017431 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{dat} =} resample (@var{dat}, @var{p}, @var{q}) ## @deftypefnx {Function File} {@var{dat} =} resample (@var{dat}, @var{p}, @var{q}, @var{n}) ## @deftypefnx {Function File} {@var{dat} =} resample (@var{dat}, @var{p}, @var{q}, @var{h}) ## Change the sample rate of the output and input signals in dataset @var{dat} ## by a factor of @code{p/q}. This is performed using a polyphase algorithm. ## The anti-aliasing @acronym{FIR} filter can be specified as follows: ## Either by order @var{n} (scalar) with default value 0. The band edges ## are then chosen automatically. Or by impulse response @var{h} (vector). ## Requires the signal package to be installed. ## ## @strong{Algorithm}@* ## Uses functions @command{fir1} and @command{resample} ## from the signal package. ## ## @strong{References}@* ## [1] J. G. Proakis and D. G. Manolakis, ## Digital Signal Processing: Principles, Algorithms, and Applications, ## 4th ed., Prentice Hall, 2007. Chap. 6 ## ## [2] A. V. Oppenheim, R. W. Schafer and J. R. Buck, ## Discrete-time signal processing, Signal processing series, ## Prentice-Hall, 1999 ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: June 2012 ## Version: 0.3 function dat = resample (dat, p, q, n = 0) if (nargin < 3 || nargin > 4) print_usage (); endif ## requires signal package try pkg load signal; catch error ("iddata: resample: please install signal package to proceed"); end_try_catch if (is_real_scalar (n)) # fourth scalar argument n is the order of the anti-aliasing filter h = fir1 (n, 1/q); elseif (is_real_vector (n)) # fourth vector argument is the (impulse response of the) anti-aliasing filter h = n; else error ("iddata: resample: fourth argument invalid"); endif dat.y = cellfun (@resample, dat.y, {p}, {q}, {h}, "uniformoutput", false); dat.u = cellfun (@resample, dat.u, {p}, {q}, {h}, "uniformoutput", false); dat.tsam = cellfun (@sampling_time, dat.tsam, {p}, {q}, "uniformoutput", false); endfunction function tsam = sampling_time (tsam, p, q) if (issample (tsam, 1)) # unspecified sampling times (-1) are left untouched tsam = (tsam*q)/p; endif endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/filter.m0000644000000000000000000000013213450727360016634 xustar0030 mtime=1554231024.121410764 30 atime=1554231024.121410764 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/filter.m0000644000175000017500000000716513450727360017106 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{dat} =} filter (@var{dat}, @var{sys}) ## @deftypefnx {Function File} {@var{dat} =} filter (@var{dat}, @var{b}, @var{a}) ## Filter output and input signals of dataset @var{dat}. ## The filter is specified either by @acronym{LTI} system @var{sys} ## or by transfer function polynomials @var{b} and @var{a} as described ## in the help text of Octave's built-in filter function. Type @code{help filter} ## for more information. ## ## @strong{Inputs} ## @table @var ## @item dat ## iddata identification dataset containing signals in time-domain. ## @item sys ## @acronym{LTI} object containing the discrete-time filter. ## @item b ## Numerator polynomial of the discrete-time filter. ## Must be a row vector containing the coefficients ## of the polynomial in ascending powers of z^-1. ## @item a ## Denominator polynomial of the discrete-time filter. ## Must be a row vector containing the coefficients ## of the polynomial in ascending powers of z^-1. ## @end table ## ## @strong{Outputs} ## @table @var ## @item dat ## iddata identification dataset with filtered ## output and input signals. ## @end table ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: August 2012 ## Version: 0.1 function dat = filter (dat, b, a = [], si = []) if (nargin < 2 || nargin > 4) print_usage (); endif if (! isa (dat, "iddata")) # there's at least one iddata set, but not as the first argument error ("iddata: filter: first argument must be an iddata set"); endif if (! dat.timedomain) error ("iddata: filter: require iddata set in time-domain"); endif if (isa (b, "lti")) # filter (dat, sys) if (nargin > 3) # filter (dat, sys, si) has at most 3 inputs print_usage (); endif if (! issiso (b)) error ("iddata: filter: second argument must be a SISO LTI system"); endif si = a; # filter (dat, sys, si) if (isct (b)) # sys is continuous-time b = c2d (b, dat.tsam{1}); # does this discretization/tsam make sense? endif [b, a] = filtdata (b, "vector"); # convert LTI system to transfer function elseif (nargin < 3) print_usage (); endif ## use Octave's filter function for each experiment ## the fifth argument '1' specifies the dimension in case of datasets with only 1 sample dat.y = cellfun (@(y) filter (b, a, y, si, 1), dat.y, "uniformoutput", false); dat.u = cellfun (@(u) filter (b, a, u, si, 1), dat.u, "uniformoutput", false); endfunction ## TODO: adapt test %!shared DATD, Z %! DAT = iddata ({[(1:10).', (1:2:20).'], [(10:-1:1).', (20:-2:1).']}, {[(41:50).', (46:55).'], [(61:70).', (-66:-1:-75).']}); %! DATD = detrend (DAT, "linear"); %! Z = zeros (10, 2); %!assert (DATD.y{1}, Z, 1e-10); %!assert (DATD.y{2}, Z, 1e-10); %!assert (DATD.u{1}, Z, 1e-10); %!assert (DATD.u{2}, Z, 1e-10); control-3.2.0/inst/@iddata/PaxHeaders.3947/__iddata_keys__.m0000644000000000000000000000013213450727360020424 xustar0030 mtime=1554231024.113410459 30 atime=1554231024.113410459 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/__iddata_keys__.m0000644000175000017500000000455213450727360020673 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{keys}, @var{vals}] =} __iddata_keys__ (@var{dat}) ## Return the list of keys as well as the assignable values for an iddata set. ## @end deftypefn ## Author: Lukas Reichlin ## Created: February 2012 ## Version: 0.2 function [keys, vals] = __iddata_keys__ (dat, aliases = false) [n, p, m, e] = size (dat); ## cell vector of iddata-specific keys keys = {"y"; "outname"; "outunit"; "u"; "inname"; "inunit"; "tsam"; "timeunit"; "expname"; "name"; "notes"; "userdata"}; ## cell vector of iddata-specific assignable values vals = {sprintf("(%dx1) cell vector of (nx%d) matrices", e, p); sprintf("(%dx1) cell vector of strings", p); sprintf("(%dx1) cell vector of strings", p); sprintf("(%dx1) cell vector of (nx%d) matrices", e, m); sprintf("(%dx1) cell vector of strings", m); sprintf("(%dx1) cell vector of strings", m); sprintf("(%dx1) cell vector of scalars", e); "string"; sprintf("(%dx1) cell vector of strings", e); "string"; "string or cell of strings"; "any data type"}; if (aliases) ka = {"outdata"; "outputdata"; "outputname"; "outputunit"; "indata"; "inputdata"; "inputname"; "inputunit"; "experimentname"; "w"; "frequency"; "samplinginstants"; "domain"; "timedomain"}; keys = [keys; ka]; endif endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/size.m0000644000000000000000000000013213450727360016321 xustar0030 mtime=1554231024.133411222 30 atime=1554231024.133411222 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/size.m0000644000175000017500000000657313450727360016575 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{nvec} =} size (@var{dat}) ## @deftypefnx {Function File} {@var{ndim} =} size (@var{dat}, @var{dim}) ## @deftypefnx {Function File} {[@var{n}, @var{p}, @var{m}, @var{e}] =} size (@var{dat}) ## Return dimensions of iddata set @var{dat}. ## ## @strong{Inputs} ## @table @var ## @item dat ## iddata set. ## @item dim ## If given a second argument, @command{size} will return the size of the ## corresponding dimension. ## @end table ## ## @strong{Outputs} ## @table @var ## @item nvec ## Row vector. The first element is the total number of samples (rows of dat.y and dat.u). ## The second element is the number of outputs (columns of dat.y) and the third element ## the number of inputs (columns of dat.u). The fourth element is the number of experiments. ## @item ndim ## Scalar value. The size of the dimension @var{dim}. ## @item n ## Row vector containing the number of samples of each experiment. ## @item p ## Number of outputs. ## @item m ## Number of inputs. ## @item e ## Number of experiments. ## @end table ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2011 ## Version: 0.1 function [x, p, m, e] = size (dat, dim = 0) if (nargin > 2) print_usage (); endif n = cellfun (@rows, dat.y).'; # number of samples p = numel (dat.outname); # number of output channels m = numel (dat.inname); # number of input channels e = numel (dat.y); # number of experiments switch (dim) case 0 # ... size (dat) switch (nargout) case 0 # size (dat) stry = stru = stre = ""; if (p != 1) stry = "s"; endif if (m != 1) stru = "s"; endif if (e != 1) stre = "s"; endif printf ("IDDATA set with [%s] samples, %d output%s, %d input%s and %d experiment%s.\n", ... num2str (n, "%d "), p, stry, m, stru, e, stre); case 1 # x = size (dat) x = [sum(n), p, m, e]; case {2, 3, 4} # [n, p, m, e] = size (dat) x = n; otherwise # more than 4 return values print_usage (); endswitch case 1 # nvec = size (dat, 1) x = n; case 2 # p = size (dat, 2) x = p; case 3 # m = size (dat, 3) x = m; case 4 # e = size (dat, 4) x = e; otherwise # invalid dimension print_usage (); endswitch endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/ifft.m0000644000000000000000000000013213450727360016277 xustar0030 mtime=1554231024.125410917 30 atime=1554231024.125410917 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/ifft.m0000644000175000017500000000505313450727360016543 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{dat} =} ifft (@var{dat}) ## Transform iddata objects from frequency to time domain. ## ## @strong{Inputs} ## @table @var ## @item dat ## iddata set containing signals in frequency domain. ## The frequency values must be distributed equally from 0 ## to the Nyquist frequency. The Nyquist frequency is ## only included for even signal lengths. ## @end table ## ## @strong{Outputs} ## @table @var ## @item dat ## iddata identification dataset in time domain. ## In order to preserve signal power and noise level, ## the FFTs are normalized by multiplying each transform ## by the square root of the signal length. ## @end table ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: April 2012 ## Version: 0.2 function dat = ifft (dat) if (nargin > 1) # no need to test nargin == 0, this is handled by built-in ifft print_usage (); endif if (dat.timedomain) # dat is always an iddata set, otherwise built-in ifft would be called return; endif if (any (cellfun (@(w) w(1) >= eps, dat.w))) error ("iddata: ifft: first frequency must be zero"); endif if (any (cellfun (@(w) any (abs (diff (w, 2)) > 1e-4*w(2:end-1)), dat.w))) error ("iddata: ifft: require linearly spaced frequency vectors"); endif [x, ~, ~, e] = size (dat); x = x(:); n = num2cell (x); nconj = num2cell (x - rem (x, 2)); dat.y = cellfun (@(y, n, nconj) real (ifft ([y; conj(y(nconj:-1:2, :))], [], 1)) * sqrt (n+nconj), dat.y, n, nconj, "uniformoutput", false); dat.u = cellfun (@(u, n, nconj) real (ifft ([u; conj(u(nconj:-1:2, :))], [], 1)) * sqrt (n+nconj), dat.u, n, nconj, "uniformoutput", false); ## ifft (x, n, dim=1) because x could be a row vector (n=1) dat.w = {}; % dat.w = repmat ({[]}, e, 1); ??? dat.timedomain = true; endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/nkshift.m0000644000000000000000000000013213450727360017015 xustar0030 mtime=1554231024.129411069 30 atime=1554231024.129411069 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/nkshift.m0000644000175000017500000000474013450727360017263 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{dat} =} nkshift (@var{dat}, @var{nk}) ## @deftypefnx {Function File} {@var{dat} =} nkshift (@var{dat}, @var{nk}, @var{'append'}) ## Shift input channels of dataset @var{dat} according to integer @var{nk}. ## A positive value of @var{nk} means that the input channels are delayed ## @var{nk} samples. By default, both input and output signals are shortened ## by @var{nk} samples. ## If a third argument @var{'append'} is passed, the output signals are left ## untouched while @var{nk} zeros are appended to the (shortened) input signals ## such that the number of samples in @var{dat} remains constant. ## @end deftypefn ## Author: Lukas Reichlin ## Created: July 2012 ## Version: 0.1 function dat = nkshift (dat, nk = 0) if (nargin > 3) print_usage (); endif if (! is_real_scalar (nk)) error ("iddata: nkshift: 'nk' must be a scalar integer"); endif ## TODO: - nk per inputs ## - frequency-domain data snk = sign (nk); nk = abs (nk); if (nargin == 2) # default: shortening y and u by nk if (snk >= 0) dat.y = cellfun (@(y) y(nk+1:end, :), dat.y, "uniformoutput", false); dat.u = cellfun (@(u) u(1:end-nk, :), dat.u, "uniformoutput", false); else dat.y = cellfun (@(y) y(1:end-nk, :), dat.y, "uniformoutput", false); dat.u = cellfun (@(u) u(nk+1:end, :), dat.u, "uniformoutput", false); endif else # append: keep y, padding u with nk zeros [~, ~, m] = size (dat); if (snk >= 0) dat.u = cellfun (@(u) [zeros(nk, m), u(1:end-nk, :)], dat.u, "uniformoutput", false); else dat.u = cellfun (@(u) [u(nk+1:end, :), zeros(nk, m)], dat.u, "uniformoutput", false); endif endif endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/display.m0000644000000000000000000000013213450727360017014 xustar0030 mtime=1554231024.117410611 30 atime=1554231024.117410611 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/display.m0000644000175000017500000000574513450727360017270 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Display routine for iddata objects. ## Author: Lukas Reichlin ## Created: February 2012 ## Version: 0.1 function display (dat) datname = inputname (1); [outname, p] = __labels__ (dat.outname, "y"); [inname, m] = __labels__ (dat.inname, "u"); [expname, e] = __labels__ (dat.expname, "exp"); [n, p, m, e] = size (dat); if (dat.timedomain) domain = "Time"; sf = "Samples"; else domain = "Frequency"; sf = "Frequencies"; endif str = [domain, " domain dataset '", datname, "' containing ", num2str(sum(n)), " ", lower(sf)]; disp (""); disp (str); disp (""); disp (__horzcat__ (__col2str__ (expname, "Experiment"), ... __vec2str__ (n, sf), ... __vec2str__ (cell2mat (dat.tsam), "Sampling Interval"))); disp (""); disp (__horzcat__ (__col2str__ (outname, "Outputs"), ... __col2str__ (dat.outunit, "Unit (if specified)"))); disp (""); disp (__horzcat__ (__col2str__ (inname, "Inputs"), ... __col2str__ (dat.inunit, "Unit (if specified)"))); disp (""); endfunction function str = __horzcat__ (col, varargin) len = rows (col); sp2 = repmat (" ", len, 1); sp4 = repmat (" ", len, 1); str = [sp2, col]; for k = 2 : nargin str = [str, sp4, varargin{k-1}]; endfor endfunction function str = __col2str__ (col, title) len = rows (col); str = strjust (strvcat (col), "left"); if (columns (str) == 0) str = repmat (" ", len, 1); endif line = repmat ("-", 1, max (columns (str), columns (title))); str = strvcat (title, line, str); endfunction function str = __vec2str__ (vec, title) vec = vec(:); tmp = isfinite (vec); tmp = abs (vec(tmp & vec != 0)); if (isempty (tmp) || min (tmp) < 1e-3 || max (tmp) > 1e4) str = arrayfun (@(x) sprintf ("%.3e", x), vec, "uniformoutput", false); elseif (all (floor (tmp) == tmp)) str = arrayfun (@(x) sprintf ("%d", x), vec, "uniformoutput", false); else str = arrayfun (@(x) sprintf ("%.4f", x), vec, "uniformoutput", false); endif str = strjust (char (str), "right"); line = repmat ("-", 1, max (columns (str), columns (title))); %str = strvcat (title, str) str = strvcat (title, line, str); endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/end.m0000644000000000000000000000013213450727360016115 xustar0030 mtime=1554231024.121410764 30 atime=1554231024.117410611 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/end.m0000644000175000017500000000302213450727360016353 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## End indexing for @acronym{IDDATA} objects. ## Used by Octave for "dat(1:end)". ## Author: Lukas Reichlin ## Created: December 2013 ## Version: 0.1 function ret = end (dat, k, n) if (n > 4) error ("iddata: end: require at most 4 indices in the expression"); endif switch (k) case 1 # selecting samples ret = size (dat, 1); if (numel (ret) != 1 && ! isequal (num2cell (ret){:})) error ("iddata: end: for multi-experiment datasets, require equal number of samples when selecting samples with 'end'"); endif ret = ret(1); case {2, 3, 4} # selecting outputs, inputs or experiments ret = size (dat, k); otherwise error ("iddata: end: invalid expression index k = %d", k); endswitch endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/diff.m0000644000000000000000000000013213450727360016257 xustar0030 mtime=1554231024.117410611 30 atime=1554231024.117410611 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/diff.m0000644000175000017500000000262713450727360016527 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{dat} =} diff (@var{dat}) ## @deftypefnx {Function File} {@var{dat} =} diff (@var{dat}, @var{k}) ## Return @var{k}-th difference of outputs and inputs of dataset @var{dat}. ## If @var{k} is not specified, default value 1 is taken. ## @end deftypefn ## Author: Lukas Reichlin ## Created: March 2012 ## Version: 0.1 function dat = diff (dat, k = 1) if (nargin > 2) # no need to test nargin == 0, this is handled by built-in diff print_usage (); endif dat.y = cellfun (@diff, dat.y, {k}, {1}, "uniformoutput", false); dat.u = cellfun (@diff, dat.u, {k}, {1}, "uniformoutput", false); endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/detrend.m0000644000000000000000000000013213450727360016774 xustar0030 mtime=1554231024.117410611 30 atime=1554231024.117410611 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/detrend.m0000644000175000017500000000440613450727360017241 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{dat} =} detrend (@var{dat}) ## @deftypefnx {Function File} {@var{dat} =} detrend (@var{dat}, @var{ord}) ## Detrend outputs and inputs of dataset @var{dat} by ## removing the best fit of a polynomial of order @var{ord}. ## If @var{ord} is not specified, default value 0 is taken. ## This corresponds to removing a constant. ## @end deftypefn ## Author: Lukas Reichlin ## Created: April 2012 ## Version: 0.1 function dat = detrend (dat, ord = 0) if (nargin > 2) # no need to test nargin == 0, this is handled by built-in detrend print_usage (); endif if ((! is_real_scalar (ord) || fix (ord) != ord) && ! ischar (ord)) # chars are handled by built-in detrend error ("iddata: detrend: second argument must be a positve integer"); endif [n, p, m] = size (dat); dat.y = cellfun (@detrend, dat.y, {ord}, "uniformoutput", false); dat.u = cellfun (@detrend, dat.u, {ord}, "uniformoutput", false); ## if a MIMO experiment has only 1 sample, detrend works ## row-wisely instead of column-wisely ## therefore we set these experiments to zero idx = (n == 1); dat.y(idx) = zeros (1, p); dat.u(idx) = zeros (1, m); endfunction %!shared DATD, Z %! DAT = iddata ({[(1:10).', (1:2:20).'], [(10:-1:1).', (20:-2:1).']}, {[(41:50).', (46:55).'], [(61:70).', (-66:-1:-75).']}); %! DATD = detrend (DAT, "linear"); %! Z = zeros (10, 2); %!assert (DATD.y{1}, Z, 1e-10); %!assert (DATD.y{2}, Z, 1e-10); %!assert (DATD.u{1}, Z, 1e-10); %!assert (DATD.u{2}, Z, 1e-10); control-3.2.0/inst/@iddata/PaxHeaders.3947/set.m0000644000000000000000000000013213450727360016142 xustar0030 mtime=1554231024.133411222 30 atime=1554231024.133411222 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/set.m0000644000175000017500000001303213450727360016402 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {} set (@var{dat}) ## @deftypefnx {Function File} {} set (@var{dat}, @var{'key'}, @var{value}, @dots{}) ## @deftypefnx {Function File} {@var{dat} =} set (@var{dat}, @var{'key'}, @var{value}, @dots{}) ## Set or modify keys of iddata objects. ## If no return argument @var{dat} is specified, the modified @acronym{IDDATA} object is stored ## in input argument @var{dat}. @command{set} can handle multiple keys in one call: ## @code{set (dat, 'key1', val1, 'key2', val2, 'key3', val3)}. ## @code{set (dat)} prints a list of the object's key names. ## @end deftypefn ## Author: Lukas Reichlin ## Created: February 2012 ## Version: 0.4 function retdat = set (dat, varargin) if (nargin == 1) # set (dat), dat = set (dat) [keys, vals] = __iddata_keys__ (dat); nrows = numel (keys); str = strjust (strvcat (keys), "right"); str = horzcat (repmat (" ", nrows, 1), str, repmat (": ", nrows, 1), strvcat (vals)); disp (str); if (nargout != 0) # function dat = set (dat, varargin) retdat = dat; # would lead to unwanted output when using endif # set (dat) else # set (dat, 'key', val1, ...), dat = set (dat, 'key1', val1, ...) if (! isa (dat, "iddata")) print_usage (); endif if (rem (nargin-1, 2)) error ("iddata: set: keys and values must come in pairs"); endif [n, p, m, e] = size (dat); keys = __iddata_keys__ (dat, true); for k = 1 : 2 : (nargin-1) key = __match_key__ (varargin{k}, keys, "iddata: set"); val = varargin{k+1}; switch (key) case {"y", "outdata", "outputdata"} val = __adjust_iddata__ (val, dat.u); [pval, ~, eval] = __iddata_dim__ (val, dat.u); if (pval != p) error ("iddata: set: argument '%s' has %d instead of %d outputs", key, pval, p); endif if (eval != e) # iddata_dim is not sufficient if dat.u = [] error ("iddata: set: argument '%s' has %d instead of %d experiments", key, eval, e); endif if (dat.timedomain && ! is_real_matrix (val{:})) error ("iddata: set: require real-valued output signals for time domain datasets"); endif dat.y = val; case {"u", "indata", "inputdata"} [~, val] = __adjust_iddata__ (dat.y, val); [~, mval] = __iddata_dim__ (dat.y, val); if (mval != m) error ("iddata: set: argument '%s' has %d instead of %d inputs", key, mval, m); endif if (dat.timedomain && ! is_real_matrix (val{:})) error ("iddata: set: require real-valued input signals for time domain datasets"); endif dat.u = val; case {"outname", "outputname"} dat.outname = __adjust_labels__ (val, p); case {"inname", "inputname"} dat.inname = __adjust_labels__ (val, m); case {"outunit", "outputunit"} dat.outunit = __adjust_labels__ (val, p); case {"inunit", "inputunit"} dat.inunit = __adjust_labels__ (val, m); case {"timeunit"} if (ischar (val)) dat.timeunit = val; else error ("iddata: set: key 'timeunit' requires a string"); endif case {"expname", "experimentname"} dat.expname = __adjust_labels__ (val, e); case {"tsam"} dat.tsam = __adjust_iddata_tsam__ (val, e); case {"w", "frequency"} if (! iscell (val)) val = {val}; endif if (any (cellfun (@(w) ! isempty (w) && (! is_real_vector (w) || any (w < 0) ... || ! issorted (w) || w(1) > w(end) ... || length (unique (w)) != length (w)), val))) error ("iddata: set: argument '%s' must be a vector of positive real values in ascending order", key); endif dat.w = val; dat.timedomain = false; case "name" if (ischar (val)) dat.name = val; else error ("iddata: set: key 'name' requires a string"); endif case "notes" if (iscellstr (val)) dat.notes = val; elseif (ischar (val)) dat.notes = {val}; else error ("lti: set: key 'notes' requires string or cell of strings"); endif case "userdata" dat.userdata = val; otherwise error ("iddata: set: invalid key name '%s'", varargin{k}); endswitch endfor if (nargout == 0) # set (dat, 'key1', val1, ...) assignin ("caller", inputname (1), dat); else # dat = set (dat, 'key1', val1, ...) retdat = dat; endif endif endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/subsasgn.m0000644000000000000000000000013213450727360017174 xustar0030 mtime=1554231024.137411375 30 atime=1554231024.137411375 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/subsasgn.m0000644000175000017500000000370213450727360017437 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Subscripted assignment for iddata objects. ## Used by Octave for "dat.property = value". ## Author: Lukas Reichlin ## Created: February 2012 ## Version: 0.1 function dat = subsasgn (dat, idx, val) switch (idx(1).type) case "()" # dat(...) = val if (length (idx(1).subs) == 1 && isa (val, "iddata")) # dat(x) = dat, required by cat for ... dat(idx.subs{:}) = val; # dat = cellfun (@iddata, varargin) else # dat(...) = val, general case error ("iddata: subsasgn type not implemented yet"); endif case "." # dat.y... = val if (length (idx) == 1) # dat.y = val dat = set (dat, idx.subs, val); else # dat.y(...) = val, dat.expname{3} = val key = idx(1).subs; dat = set (dat, key, subsasgn (get (dat, key), idx(2:end), val)); endif otherwise error ("iddata: subsasgn: invalid subscripted assignment type"); endswitch endfunctioncontrol-3.2.0/inst/@iddata/PaxHeaders.3947/plot.m0000644000000000000000000000013213450727360016325 xustar0030 mtime=1554231024.129411069 30 atime=1554231024.129411069 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/plot.m0000644000175000017500000000711713450727360016574 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {} plot (@var{dat}) ## @deftypefnx {Function File} {} plot (@var{dat}, @var{exp}) ## Plot signals of iddata identification datasets on the screen. ## The signals are plotted experiment-wise, either in time- or ## frequency-domain. For multi-experiment datasets, ## press any key to switch to the next experiment. ## If the plot of a single experiment should be saved by the ## @command{print} command, use @code{plot(dat,exp)}, ## where @var{exp} denotes the desired experiment. ## @end deftypefn ## Author: Lukas Reichlin ## Created: February 2012 ## Version: 0.2 function plot (dat, exp = ":") if (nargin > 2) # nargin == 0 is handled by built-in plot print_usage (); endif if (nargin == 2 && ! is_real_vector (exp)) error ("iddata: plot: second argument must be a vector of indices"); endif expname = __labels__ (dat.expname, "exp"); expname = expname(exp); idx = substruct ("()", {":", ":", ":", exp}); dat = subsref (dat, idx); [n, p, m, e] = size (dat); if (dat.timedomain) if (m == 0) # time series for k = 1 : e if (k > 1) pause endif plot (dat.y{k}) title (expname{k}) legend (__labels__ (dat.outname, "y"){:}) xlabel ("Time") ylabel ("Output Signal") endfor else # inputs present for k = 1 : e if (k > 1) pause endif subplot (2, 1, 1) plot (dat.y{k}) title (expname{k}) legend (__labels__ (dat.outname, "y"){:}) ylabel ("Output Signal") subplot (2, 1, 2) stairs (dat.u{k}) legend (__labels__ (dat.inname, "u"){:}) xlabel ("Time") ylabel ("Input Signal") endfor endif else # frequency domain if (m == 0) # time series for k = 1 : e if (k > 1) pause endif bar (dat.w{k}, 20*log10 (abs (dat.y{k}))) xlim ([dat.w{k}(1), dat.w{k}(end)]) title (expname{k}) legend (__labels__ (dat.outname, "y"){:}) xlabel ("Frequency") ylabel ("Output Magnitude [dB]") endfor else # inputs present for k = 1 : e if (k > 1) pause endif subplot (2, 1, 1) bar (dat.w{k}, 20*log10 (abs (dat.y{k}))) xlim ([dat.w{k}(1), dat.w{k}(end)]) title (expname{k}) legend (__labels__ (dat.outname, "y"){:}) ylabel ("Output Magnitude [dB]") subplot (2, 1, 2) bar (dat.w{k}, 20*log10(abs (dat.u{k}))) xlim ([dat.w{k}(1), dat.w{k}(end)]) legend (__labels__ (dat.inname, "u"){:}) xlabel ("Frequency") ylabel ("Input Magnitude [dB]") endfor endif endif ## TODO: think about the 20*log10 and the bars in general endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/vertcat.m0000644000000000000000000000013213450727360017017 xustar0030 mtime=1554231024.137411375 30 atime=1554231024.137411375 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/vertcat.m0000644000175000017500000000253113450727360017261 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{dat} =} vertcat (@var{dat1}, @var{dat2}, @dots{}) ## Vertical concatenation of iddata datasets. ## The samples are concatenated in the following way: ## @code{dat.y@{e@} = [dat1.y@{e@}; dat2.y@{e@}; @dots{}]} ## @code{dat.u@{e@} = [dat1.u@{e@}; dat2.u@{e@}; @dots{}]} ## where @var{e} denotes the experiment. ## The number of experiments, outputs and inputs must be equal for all datasets. ## @end deftypefn ## Author: Lukas Reichlin ## Created: March 2012 ## Version: 0.1 function dat = vertcat (varargin) dat = cat (1, varargin{:}); endfunction control-3.2.0/inst/@iddata/PaxHeaders.3947/cat.m0000644000000000000000000000013213450727360016116 xustar0030 mtime=1554231024.113410459 30 atime=1554231024.113410459 30 ctime=1554231028.525576056 control-3.2.0/inst/@iddata/cat.m0000644000175000017500000001600513450727360016361 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{dat} =} cat (@var{dim}, @var{dat1}, @var{dat2}, @dots{}) ## Concatenate iddata sets along dimension @var{dim}. ## ## @strong{Inputs} ## @table @var ## @item dim ## Dimension along which the concatenation takes place. ## @table @var ## @item 1 ## Concatenate samples. ## The samples are concatenated in the following way: ## @code{dat.y@{e@} = [dat1.y@{e@}; dat2.y@{e@}; @dots{}]} ## @code{dat.u@{e@} = [dat1.u@{e@}; dat2.u@{e@}; @dots{}]} ## where @var{e} denotes the experiment. ## The number of experiments, outputs and inputs must be equal for all datasets. ## Equivalent to @command{vertcat}. ## ## @item 2 ## Concatenate inputs and outputs. ## The outputs and inputs are concatenated in the following way: ## @code{dat.y@{e@} = [dat1.y@{e@}, dat2.y@{e@}, @dots{}]} ## @code{dat.u@{e@} = [dat1.u@{e@}, dat2.u@{e@}, @dots{}]} ## where @var{e} denotes the experiment. ## The number of experiments and samples must be equal for all datasets. ## Equivalent to @command{horzcat}. ## ## @item 3 ## Concatenate experiments. ## The experiments are concatenated in the following way: ## @code{dat.y = [dat1.y; dat2.y; @dots{}]} ## @code{dat.u = [dat1.u; dat2.u; @dots{}]} ## The number of outputs and inputs must be equal for all datasets. ## Equivalent to @command{merge}. ## @end table ## ## @item dat1, dat2, @dots{} ## iddata sets to be concatenated. ## @end table ## ## @strong{Outputs} ## @table @var ## @item dat ## Concatenated iddata set. ## @end table ## ## @seealso{horzcat, merge, vertcat} ## @end deftypefn ## Author: Lukas Reichlin ## Created: March 2012 ## Version: 0.1 function dat = cat (dim, varargin) ## I think this code is pretty elegant because it works for ## any number of arguments and without a single for-loop :-) ## if this overloaded cat method is called, it is guaranteed that ## * nargin > 0 ## * at least one argument is an iddata object if (! is_real_scalar (dim)) print_usage (); endif ## store all datasets in a single struct 'tmp' ## tmp is not a valid iddata set anymore, ## but it doesn't matter, we want just a ## temporary struct containing all the data tmp = cellfun (@iddata, varargin); [n, p, m, e] = cellfun (@size, varargin, "uniformoutput", false); ## TODO: dat = iddata (ones (100, 3)); ## dat = cat (1, dat, zeros (4, 3), dat) ## default values for metadata ## some of them are overwritten in the switch statement below tsam = tmp(1).tsam; expname = tmp(1).expname; outname = tmp(1).outname; outunit = tmp(1).outunit; inname = tmp(1).inname; inunit = tmp(1).inunit; check_domain (tmp, e); switch (dim) case 1 # vertcat - catenate samples check_experiments (tmp, e); check_outputs (tmp, p); check_inputs (tmp, m); y = cellfun (@vertcat, tmp.y, "uniformoutput", false); u = cellfun (@vertcat, tmp.u, "uniformoutput", false); ## note that this also works for time series (u = {}) case 2 # horzcat - catenate channels check_experiments (tmp, e); check_samples (n); y = cellfun (@horzcat, tmp.y, "uniformoutput", false); u = cellfun (@horzcat, tmp.u, "uniformoutput", false); outname = vertcat (tmp.outname); outunit = vertcat (tmp.outunit); inname = vertcat (tmp.inname); inunit = vertcat (tmp.inunit); case 3 # merge - catenate experiments check_outputs (tmp, p); check_inputs (tmp, m); y = vertcat (tmp.y); u = vertcat (tmp.u); tsam = vertcat (tmp.tsam); expname = vertcat (tmp.expname); otherwise error ("iddata: cat: '%d' is an invalid dimension", dim); endswitch dat = iddata (y, u, tsam); ## copy metadata dat.expname = expname; dat.outname = outname; dat.outunit = outunit; dat.inname = inname; dat.inunit = inunit; % TODO: handle w endfunction function check_experiments (tmp, e) if (numel (e) > 1 && ! isequal (e{:})) # isequal doesn't work with less than 2 arguments error ("iddata: cat: number of experiments don't match [%s]", ... num2str (cell2mat (e), "%d ")); endif if (! compare_strings (tmp.expname)) warning ("iddata: cat: experiment names don't match") endif if (numel (e) > 1 && ! isequal (tmp.tsam)) warning ("iddata: cat: sampling times don't match"); endif endfunction function check_outputs (tmp, p) if (numel (p) > 1 && ! isequal (p{:})) error ("iddata: cat: number of outputs don't match [%s]", ... num2str (cell2mat (p), "%d ")); endif if (! compare_strings (tmp.outname)) warning ("iddata: cat: output names don't match") endif if (! compare_strings (tmp.outunit)) warning ("iddata: cat: output units don't match") endif endfunction function check_inputs (tmp, m) if (numel (m) > 1 && ! isequal (m{:})) error ("iddata: cat: number of inputs don't match [%s]", ... num2str (cell2mat (m), "%d ")); endif if (! compare_strings (tmp.inname)) warning ("iddata: cat: input names don't match") endif if (! compare_strings (tmp.inunit)) warning ("iddata: cat: input units don't match") endif endfunction function check_samples (n) if (numel (n) > 1 && ! isequal (n{:})) error ("iddata: cat: number of samples don't match %s", ... mat2str (vertcat (n{:}), 10)); endif endfunction function check_domain (tmp, e) if (numel (e) > 1 && ! isequal (tmp.timedomain)) # isequal doesn't work with less than 2 arguments error ("iddata: cat: can't mix time- and frequency-domain datasets"); endif endfunction ## kind of strcmp for more than two arguments ## return true if all cells of strings are equal ## and false otherwise function bool = compare_strings (str, varargin) if (nargin > 1) ## compare n-th string of first cell with n-th string of remaining cells tmp = cellfun (@strcmp, {str}, varargin, "uniformoutput", false); ## check whether all strings of each pair are equal tmp = cellfun (@all, tmp); ## check whether all pairs are equal bool = all (tmp); else ## one or no cell at all is always equal to itself bool = true; endif endfunction %!error (cat (1, iddata (1, 1), iddata ({2, 3}, {2, 3}))); control-3.2.0/inst/PaxHeaders.3947/__modred_check_alpha__.m0000644000000000000000000000013013450727360020367 xustar0029 mtime=1554231024.38142069 29 atime=1554231024.38142069 30 ctime=1554231028.525576056 control-3.2.0/inst/__modred_check_alpha__.m0000644000175000017500000000241013450727360020627 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## check alpha for model reduction commands ## Author: Lukas Reichlin ## Created: November 2011 ## Version: 0.1 function alpha = __modred_check_alpha__ (alpha, dt) if (! is_real_scalar (alpha)) error ("modred: argument alpha must be a real scalar"); endif if (dt) # discrete-time if (alpha < 0 || alpha > 1) error ("modred: require 0 <= ALPHA <= 1"); endif else # continuous-time if (alpha > 0) error ("modred: require ALPHA <= 0"); endif endif endfunction control-3.2.0/inst/PaxHeaders.3947/lyapchol.m0000644000000000000000000000013213450727360015634 xustar0030 mtime=1554231024.545426952 30 atime=1554231024.545426952 30 ctime=1554231028.525576056 control-3.2.0/inst/lyapchol.m0000644000175000017500000001072113450727360016076 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{u} =} lyapchol (@var{a}, @var{b}) ## @deftypefnx{Function File} {@var{u} =} lyapchol (@var{a}, @var{b}, @var{e}) ## Compute Cholesky factor of continuous-time Lyapunov equations. ## ## @strong{Equations} ## @example ## @group ## A U' U + U' U A' + B B' = 0 (Lyapunov Equation) ## ## A U' U E' + E U' U A' + B B' = 0 (Generalized Lyapunov Equation) ## @end group ## @end example ## ## @strong{Algorithm}@* ## Uses SLICOT SB03OD and SG03BD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @seealso{lyap, dlyap, dlyapchol} ## @end deftypefn ## Author: Lukas Reichlin ## Created: January 2010 ## Version: 0.2.1 function [u, scale] = lyapchol (a, b, e) switch (nargin) case 2 if (! is_real_square_matrix (a)) ## error ("lyapchol: a must be real and square"); error ("lyapchol: %s must be real and square", ... inputname (1)); endif if (! is_real_matrix (b)) ## error ("lyapchol: b must be real") error ("lyapchol: %s must be real", ... inputname (2)) endif if (rows (a) != rows (b)) ## error ("lyapchol: a and b must have the same number of rows"); error ("lyapchol: %s and %s must have the same number of rows", ... inputname (1), inputname (2)); endif [u, scale] = __sl_sb03od__ (a.', b.', false); ## NOTE: TRANS = 'T' not suitable because we need U' U, not U U' case 3 if (! is_real_square_matrix (a, e)) ## error ("lyapchol: a, e must be real and square"); error ("lyapchol: %s, %s must be real and square", ... inputname (1), inputname (3)); endif if (! is_real_matrix (b)) ## error ("lyapchol: b must be real"); error ("lyapchol: %s must be real", ... inputname (2)); endif if (rows (b) != rows (a) || rows (e) != rows (a)) ## error ("lyapchol: a, b, e must have the same number of rows"); error ("lyapchol: %s, %s, %s must have the same number of rows", ... inputname (1), inputname (2), inputname (3)); endif [u, scale] = __sl_sg03bd__ (a.', e.', b.', false); ## NOTE: TRANS = 'T' not suitable because we need U' U, not U U' otherwise print_usage (); endswitch if (scale < 1) warning ("lyapchol: solution scaled by %g to prevent overflow", scale); endif endfunction %!shared U, U_exp, X, X_exp %! %! A = [ -1.0 37.0 -12.0 -12.0 %! -1.0 -10.0 0.0 4.0 %! 2.0 -4.0 7.0 -6.0 %! 2.0 2.0 7.0 -9.0 ].'; %! %! B = [ 1.0 2.5 1.0 3.5 %! 0.0 1.0 0.0 1.0 %! -1.0 -2.5 -1.0 -1.5 %! 1.0 2.5 4.0 -5.5 %! -1.0 -2.5 -4.0 3.5 ].'; %! %! U = lyapchol (A, B); %! %! X = U.' * U; # use lyap at home! %! %! U_exp = [ 1.0000 0.0000 0.0000 0.0000 %! 3.0000 1.0000 0.0000 0.0000 %! 2.0000 -1.0000 1.0000 0.0000 %! -1.0000 1.0000 -2.0000 1.0000 ].'; %! %! X_exp = [ 1.0000 3.0000 2.0000 -1.0000 %! 3.0000 10.0000 5.0000 -2.0000 %! 2.0000 5.0000 6.0000 -5.0000 %! -1.0000 -2.0000 -5.0000 7.0000 ]; %! %!assert (U, U_exp, 1e-4); %!assert (X, X_exp, 1e-4); %!shared U, U_exp, X, X_exp %! %! A = [ -1.0 3.0 -4.0 %! 0.0 5.0 -2.0 %! -4.0 4.0 1.0 ].'; %! %! E = [ 2.0 1.0 3.0 %! 2.0 0.0 1.0 %! 4.0 5.0 1.0 ].'; %! %! B = [ 2.0 -1.0 7.0 ].'; %! %! U = lyapchol (A, B, E); %! %! U_exp = [ 1.6003 -0.4418 -0.1523 %! 0.0000 0.6795 -0.2499 %! 0.0000 0.0000 0.2041 ]; %! %!assert (U, U_exp, 1e-4); control-3.2.0/inst/PaxHeaders.3947/@ss0000644000000000000000000000013213450727360014313 xustar0030 mtime=1554231024.265416262 30 atime=1554231028.525576056 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/0000755000175000017500000000000013450727360014631 5ustar00olafolaf00000000000000control-3.2.0/inst/@ss/PaxHeaders.3947/__pole__.m0000644000000000000000000000013213450727360016301 xustar0030 mtime=1554231024.245415498 30 atime=1554231024.245415498 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__pole__.m0000644000175000017500000000236513450727360016550 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Poles of SS object. ## Special thanks to Peter Benner for his advice. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function pol = __pole__ (sys) if (isempty (sys.e)) pol = eig (sys.a); else ## pol = eig (sys.a, sys.e); ## tol = norm ([sys.a, sys.e], 2); ## idx = find (abs (pol) < tol/eps); ## pol = pol(idx); ## do not scale, matrices B, C & D missing pol = __sl_ag08bd__ (sys.a, sys.e, [], [], [], true); endif endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__minreal__.m0000644000000000000000000000013213450727360016771 xustar0030 mtime=1554231024.241415346 30 atime=1554231024.241415346 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__minreal__.m0000644000175000017500000000331213450727360017231 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Minimal realization of SS models. The physical meaning of states is lost. ## Uses SLICOT TB01PD and TG01JD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function retsys = __minreal__ (sys, tol) if (strcmpi (tol, "def")) tol = 0; elseif (tol > 1) error ("ss: minreal: require tol <= 1"); endif if (isempty (sys.e)) [a, b, c] = __sl_tb01pd__ (sys.a, sys.b, sys.c, tol, sys.scaled); if (rows (a) == rows (sys.a)) retsys = sys; else retsys = ss (a, b, c, sys.d); retsys.lti = sys.lti; # retain i/o names and tsam endif else [a, e, b, c] = __sl_tg01jd__ (sys.a, sys.e, sys.b, sys.c, tol, sys.scaled, 0, 0); if (rows (a) == rows (sys.a)) retsys = sys; else retsys = dss (a, b, c, sys.d, e); retsys.lti = sys.lti; # retain i/o names and tsam endif endif endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__sys2frd__.m0000644000000000000000000000013213450727360016736 xustar0030 mtime=1554231024.249415651 30 atime=1554231024.245415498 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__sys2frd__.m0000644000175000017500000000220213450727360017173 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## SS to FRD conversion. ## Author: Lukas Reichlin ## Created: October 2010 ## Version: 0.1 function [retsys, retlti] = __sys2frd__ (sys, w = []) if (isempty (w)) # case sys = frd (sys) w = __frequency_vector__ (sys); endif H = freqresp (sys, w); retsys = frd (H, w); # tsam is set below retlti = sys.lti; # preserve lti properties endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__sys_inverse__.m0000644000000000000000000000013213450727360017713 xustar0030 mtime=1554231024.253415804 30 atime=1554231024.253415804 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__sys_inverse__.m0000644000175000017500000000312713450727360020157 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Inversion of SS models. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function sys = __sys_inverse__ (sys) a = sys.a; b = sys.b; c = sys.c; d = sys.d; e = sys.e; if (! isempty (e) || rcond (d) < eps) # dss or strictly proper ss n = rows (a); m = columns (b); # p = m (square system) if (isempty (e)) # avoid testing twice? e = eye (n); endif sys.a = [a, b; c, d]; sys.b = [zeros(n, m); -eye(m)]; sys.c = [zeros(m, n), eye(m)]; sys.d = zeros (m); sys.e = [e, zeros(n, m); zeros(m, n+m)]; sys.stname = [sys.stname; repmat({""}, m, 1)]; else # proper ss bid = b / d; sys.a = a - bid * c; sys.b = bid; sys.c = -d \ c; sys.d = inv (d); endif endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__get__.m0000644000000000000000000000013213450727360016121 xustar0030 mtime=1554231024.241415346 30 atime=1554231024.241415346 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__get__.m0000644000175000017500000000245113450727360016364 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Access key values of SS objects. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.3 function val = __get__ (sys, key) switch (key) # {, } case "a" val = sys.a; case "b" val = sys.b; case "c" val = sys.c; case "d" val = sys.d; case "e" val = sys.e; case {"stname", "statename"} val = sys.stname; case "scaled" val = sys.scaled; otherwise error ("ss: get: invalid key name '%s'", key); endswitch endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__sys_prune__.m0000644000000000000000000000013213450727360017371 xustar0030 mtime=1554231024.257415956 30 atime=1554231024.257415956 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__sys_prune__.m0000644000175000017500000000413113450727360017631 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Submodel extraction and reordering for SS objects. ## This file is part of the Model Abstraction Layer. ## For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.3 function sys = __sys_prune__ (sys, out_idx, in_idx, st_idx = ":") [sys.lti, out_idx, in_idx] = __lti_prune__ (sys.lti, out_idx, in_idx); if (ischar (st_idx) && ! strcmp (st_idx, ":")) st_idx = {st_idx}; endif if (iscell (st_idx)) st_idx = cellfun (@(x) __str2idx__ (sys.stname, x), st_idx); endif sys.a = sys.a(st_idx, st_idx); sys.b = sys.b(st_idx, in_idx); sys.c = sys.c(out_idx, st_idx); sys.d = sys.d(out_idx, in_idx); if (! isempty (sys.e)) sys.e = sys.e(st_idx, st_idx); endif sys.stname = sys.stname(st_idx); endfunction ## NOTE: This local '__str2idx__' function is different from ## the one defined in the file '__str2idx__.m'. Why? ## There are input and output groups, but no state groups. ## At least the 'dark side' does not have state groups. ## However, I do contemplate 'stgroup'. function idx = __str2idx__ (name, str) tmp = strcmp (name, str)(:); switch (nnz (tmp)) case 1 idx = find (tmp); case 0 error ("ss: state name '%s' not found", str); otherwise error ("ss: state name '%s' is ambiguous", str); endswitch endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__sys_group__.m0000644000000000000000000000013213450727360017374 xustar0030 mtime=1554231024.253415804 30 atime=1554231024.253415804 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__sys_group__.m0000644000175000017500000000361613450727360017643 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Block diagonal concatenation of two SS models. ## This file is part of the Model Abstraction Layer. ## For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function retsys = __sys_group__ (sys1, sys2) if (! isa (sys1, "ss")) sys1 = ss (sys1); endif if (! isa (sys2, "ss")) sys2 = ss (sys2); endif retsys = ss (); retsys.lti = __lti_group__ (sys1.lti, sys2.lti); n1 = rows (sys1.a); n2 = rows (sys2.a); [p1, m1] = size (sys1.d); [p2, m2] = size (sys2.d); retsys.a = [sys1.a, zeros(n1,n2); zeros(n2,n1), sys2.a]; retsys.b = [sys1.b, zeros(n1,m2); zeros(n2,m1), sys2.b]; retsys.c = [sys1.c, zeros(p1,n2); zeros(p2,n1), sys2.c]; retsys.d = [sys1.d, zeros(p1,m2); zeros(p2,m1), sys2.d]; e1 = ! isempty (sys1.e); e2 = ! isempty (sys2.e); if (e1 || e2) if (e1 && e2) retsys.e = [sys1.e, zeros(n1,n2); zeros(n2,n1), sys2.e]; elseif (e1) retsys.e = [sys1.e, zeros(n1,n2); zeros(n2,n1), eye(n2)]; else retsys.e = [eye(n1), zeros(n1,n2); zeros(n2,n1), sys2.e]; endif endif retsys.stname = [sys1.stname; sys2.stname]; endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__sys2tf__.m0000644000000000000000000000013213450727360016574 xustar0030 mtime=1554231024.249415651 30 atime=1554231024.249415651 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__sys2tf__.m0000644000175000017500000000506013450727360017036 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## SS to TF conversion. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.7 function [retsys, retlti] = __sys2tf__ (sys) sg_flag = false; # static gain flag try [a, b, c, d, tsam, scaled] = ssdata (sys); # system could be a descriptor model if (tsam == -2 || isempty (a)) # static gain sg_flag = true; else [num, den] = __sl_tb04bd__ (a, b, c, d, scaled); endif catch if (strcmp (lasterror.identifier, "dss:improper")) ## sys is non-realizable, therefore ssdata failed. if (issiso (sys)) [num, den] = __siso_ss2tf__ (sys); else [p, m] = size (sys); num = cell (p, m); den = cell (p, m); for i = 1 : p for j = 1 : m idx = substruct ("()", {i, j}); tmp = subsref (sys, idx); # extract siso model tmp = sminreal (tmp); # sminreal is more suitable than minreal here [n, d] = __siso_ss2tf__ (tmp); num(i, j) = n; den(i, j) = d; endfor endfor endif tsam = get (sys, "tsam"); else ## something else happened rethrow (lasterror); endif end_try_catch if (sg_flag) retsys = tf (d); else retsys = tf (num, den, tsam); # tsam needed to set appropriate tfvar endif retlti = sys.lti; # preserve lti properties endfunction function [num, den] = __siso_ss2tf__ (sys) if (isempty (sys.a)) # static gain num = sys.d; den = 1; else # default case [zer, gain] = zero (sys); pol = pole (sys); num = gain * real (poly (zer)); den = real (poly (pol)); endif endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__times__.m0000644000000000000000000000013213450727360016463 xustar0030 mtime=1554231024.257415956 30 atime=1554231024.257415956 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__times__.m0000644000175000017500000000206213450727360016724 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Hadamard/Schur product of @acronym{SS} objects. ## Used by Octave for "sys1 .* sys2". ## Author: Lukas Reichlin ## Created: May 2014 ## Version: 0.1 function sys = __times__ (sys1, sys2) error ("ss: times: Hadamard/Schur product is only supported for transfer functions"); endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__prescale__.m0000644000000000000000000000013213450727360017140 xustar0030 mtime=1554231024.245415498 30 atime=1554231024.245415498 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__prescale__.m0000644000175000017500000000264613450727360017411 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Prescale state-space model. ## Uses SLICOT TB01ID and TG01AD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## Author: Lukas Reichlin ## Created: June 2011 ## Version: 0.1 function [retsys, lscale, rscale] = __prescale__ (sys, optarg = 0.0) if (isempty (sys.e)) [a, b, c, ~, scale] = __sl_tb01id__ (sys.a, sys.b, sys.c, optarg); retsys = ss (a, b, c, sys.d); lscale = scale.^-1; rscale = scale; else [a, e, b, c, lscale, rscale] = __sl_tg01ad__ (sys.a, sys.e, sys.b, sys.c, optarg); retsys = dss (a, b, c, sys.d, e); endif retsys.scaled = true; retsys.lti = sys.lti; # retain i/o names and tsam endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/ss.m0000644000000000000000000000013213450727360015173 xustar0030 mtime=1554231024.261416109 30 atime=1554231024.261416109 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/ss.m0000644000175000017500000001620613450727360015441 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} ss (@var{sys}) ## @deftypefnx {Function File} {@var{sys} =} ss (@var{d}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c}, @var{d}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} ss (@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}, @dots{}) ## Create or convert to state-space model. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model to be converted to state-space. ## @item a ## State matrix (n-by-n). ## @item b ## Input matrix (n-by-m). ## @item c ## Output matrix (p-by-n). ## If @var{c} is empty @code{[]} or not specified, an identity matrix is assumed. ## @item d ## Feedthrough matrix (p-by-m). ## If @var{d} is empty @code{[]} or not specified, a zero matrix is assumed. ## @item tsam ## Sampling time in seconds. If @var{tsam} is not specified, a continuous-time model is assumed. ## @item @dots{} ## Optional pairs of properties and values. ## Type @command{set (ss)} for more information. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## State-space model. ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'a', 'b', 'c', 'd', 'e' ## State-space matrices. See 'Inputs' for details. ## ## @item 'stname' ## The name of the states in @var{sys}. ## Cell vector containing strings for each state. ## Default names are @code{@{'x1', 'x2', ...@}} ## ## @item 'scaled' ## Logical. If set to true, no automatic scaling is used, ## e.g. for frequency response plots. ## ## @item 'tsam' ## Sampling time. See 'Inputs' for details. ## ## @item 'inname' ## The name of the input channels in @var{sys}. ## Cell vector of length m containing strings. ## Default names are @code{@{'u1', 'u2', ...@}} ## ## @item 'outname' ## The name of the output channels in @var{sys}. ## Cell vector of length p containing strings. ## Default names are @code{@{'y1', 'y2', ...@}} ## ## @item 'ingroup' ## Struct with input group names as field names and ## vectors of input indices as field values. ## Default is an empty struct. ## ## @item 'outgroup' ## Struct with output group names as field names and ## vectors of output indices as field values. ## Default is an empty struct. ## ## @item 'name' ## String containing the name of the model. ## ## @item 'notes' ## String or cell of string containing comments. ## ## @item 'userdata' ## Any data type. ## @end table ## ## @strong{Equations} ## @example ## @group ## . ## x = A x + B u ## y = C x + D u ## @end group ## @end example ## ## @strong{Example} ## @example ## @group ## octave:1> a = [1 2 3; 4 5 6; 7 8 9]; ## octave:2> b = [10; 11; 12]; ## octave:3> stname = @{'V', 'A', 'kJ'@}; ## octave:4> sys = ss (a, b, 'stname', stname) ## @end group ## @end example ## ## @example ## @group ## sys.a = ## V A kJ ## V 1 2 3 ## A 4 5 6 ## kJ 7 8 9 ## @end group ## @end example ## ## @example ## @group ## sys.b = ## u1 ## V 10 ## A 11 ## kJ 12 ## @end group ## @end example ## ## @example ## @group ## sys.c = ## V A kJ ## y1 1 0 0 ## y2 0 1 0 ## y3 0 0 1 ## @end group ## @end example ## ## @example ## @group ## sys.d = ## u1 ## y1 0 ## y2 0 ## y3 0 ## ## Continuous-time model. ## octave:5> ## @end group ## @end example ## ## @seealso{tf, dss} ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.4 function sys = ss (varargin) ## model precedence: frd > ss > zpk > tf > double ## inferiorto ("frd"); superiorto ("zpk", "tf", "double"); if (nargin == 1) # shortcut for lti objects if (isa (varargin{1}, "ss")) # already in ss form sys = ss (sssys) sys = varargin{1}; return; elseif (isa (varargin{1}, "lti")) # another lti object sys = ss (sys) [sys, lti] = __sys2ss__ (varargin{1}); sys.lti = lti; # preserve lti properties return; endif elseif (nargin == 2) # shortcut for lti objects plus if (ischar (varargin{2}) && isa (varargin{1}, "lti")) candidates = {"minimal", "explicit"}; key = __match_key__ (varargin{2}, candidates, "ss"); switch (key) case "minimal" # ss (sys, 'minimal') sys = minreal (ss (varargin{1})); return; case "explicit" # ss (sys, 'explicit') sys = dss2ss (ss (varargin{1})); return; otherwise # this would be a silly bug endswitch endif endif a = []; b = []; c = []; d = []; # default state-space matrices tsam = 0; # default sampling time [mat_idx, opt_idx, obj_flg] = __lti_input_idx__ (varargin); switch (numel (mat_idx)) case 1 d = varargin{mat_idx}; case 2 [a, b] = varargin{mat_idx}; case 3 [a, b, c] = varargin{mat_idx}; case 4 [a, b, c, d] = varargin{mat_idx}; case 5 [a, b, c, d, tsam] = varargin{mat_idx}; if (isempty (tsam) && is_real_matrix (tsam)) tsam = -1; elseif (! issample (tsam, -10)) error ("ss: invalid sampling time"); endif case 0 ## nothing to do here, just prevent case 'otherwise' otherwise print_usage (); endswitch varargin = varargin(opt_idx); if (obj_flg) varargin = horzcat ({"lti"}, varargin); endif [a, b, c, d, tsam] = __adjust_ss_data__ (a, b, c, d, tsam); [p, m, n] = __ss_dim__ (a, b, c, d); # determine number of outputs, inputs and states stname = repmat ({""}, n, 1); # cell with empty state names ssdata = struct ("a", a, "b", b, "c", c, "d", d, "e", [], "stname", {stname}, "scaled", false); # struct for ss-specific data ltisys = lti (p, m, tsam); # parent class for general lti data sys = class (ssdata, "ss", ltisys); # create ss object if (numel (varargin) > 0) # if there are any properties and values, ... sys = set (sys, varargin{:}); # use the general set function endif endfunction ## TODO: create a separate function @lti/dss2ss.m function G = dss2ss (G) [G.a, G.b, G.c, G.d, G.e] = __dss2ss__ (G.a, G.b, G.c, G.d, G.e); endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__c2d__.m0000644000000000000000000000013213450727360016012 xustar0030 mtime=1554231024.237415193 30 atime=1554231024.237415193 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__c2d__.m0000644000175000017500000000420513450727360016254 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Convert the continuous SS model into its discrete-time equivalent. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.5 function sys = __c2d__ (sys, tsam, method = "zoh", w0 = 0) switch (method(1)) case {"z", "s"} # {"zoh", "std"} [sys.a, sys.b, sys.c, sys.d, sys.e] = __dss2ss__ (sys.a, sys.b, sys.c, sys.d, sys.e); [sys.a, tmp] = __sl_mb05nd__ (sys.a, tsam, eps); sys.b = tmp * sys.b; # G case {"t", "b", "p"} # {"tustin", "bilin", "prewarp"} if (method(1) == "p") # prewarping beta = w0 / tan (w0*tsam/2); else beta = 2/tsam; endif if (isempty (sys.e)) [sys.a, sys.b, sys.c, sys.d] = __sl_ab04md__ (sys.a, sys.b, sys.c, sys.d, 1, beta, false); else [sys.a, sys.b, sys.c, sys.d, sys.e] = __dss_bilin__ (sys.a, sys.b, sys.c, sys.d, sys.e, beta, false); endif case "i" # "impulse" [b a] = tfdata(sys,'v'); [bz az] = imp_invar (b , a , 1/tsam , tol = 1e-4); sys = tf (bz,az,tsam); case "m" # "matched" tmp = ss (c2d (zpk (sys), tsam, method)); sys.e = tmp.e; sys.a = tmp.a; sys.b = tmp.b; sys.c = tmp.c; sys.d = tmp.d; otherwise error ("ss: c2d: '%s' is an invalid or missing method", method); endswitch endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/ss2ss.m0000644000000000000000000000013213450727360015623 xustar0030 mtime=1554231024.265416262 30 atime=1554231024.265416262 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/ss2ss.m0000644000175000017500000001077013450727360016071 0ustar00olafolaf00000000000000## Copyright (C) 2017 Fabian Alexander Wilms ## ## This program is free software; you can redistribute it and/or modify it under ## the terms of the GNU General Public License as published by the Free Software ## Foundation; either version 3 of the License, or (at your option) any later ## version. ## ## This program is distributed in the hope that it will be useful, but WITHOUT ## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or ## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more ## details. ## ## You should have received a copy of the GNU General Public License along with ## this program; if not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{SYS_TRANSFORMED} =} ss2ss (@var{SYS}, @var{T}) ## @deftypefnx {Function File} {[@var{A_TRANSFORMED} @var{B_TRANSFORMED} @var{C_TRANSFORMED} @var{D_TRANSFORMED}] =} ss2ss (@var{A}, @var{B}, @var{C}, @var{D}, @var{T}) ## Applies the similarity transformation T to a state-space model ## ## Given the state space model ## @tex ## $$ \dot x = Ax + Bu $$ ## $$ y = Cx + Du $$ ## @end tex ## @ifnottex ## @example ## @group ## . ## x = Ax + Bu ## y = Cx + Du ## @end group ## @end example ## @end ifnottex ## ## and the transformation matrix T, which maps the state vector x to another ## coordinate system ## @tex ## $$ \bar{x} = Tx $$ ## @end tex ## @ifnottex ## @example ## @group ## _ ## x = Tx ## @end group ## @end example ## @end ifnottex ## ## the state-space model is transformed in a way that results in an equivalent ## state-space model which is based on the new state vector ## ## @tex ## $$ \dot \bar{x} = TAT^{-1}\bar{x} + TBu $$ ## $$ y = CT^{-1}\bar{x} + Du $$ ## @end tex ## @ifnottex ## @example ## @group ## . ## _ _ ## x = T A T^-1 x + T B u ## . _ ## y = C T^-1 x + D u ## @end group ## @end example ## @end ifnottex ## ## Please note: In the literature, T may be defined inversely: ## ## @tex ## $$ \bar{x} = T^{-1}x $$ ## @end tex ## @ifnottex ## @example ## @group ## _ -1 ## x = T x ## @end group ## @end example ## @end ifnottex ## References: ## ## Control System Design, page 484 by Goodwin, Graebe, Salgado, 2000 ## ## https://de.mathworks.com/help/control/ref/ss2ss.html ## ## Attention: T as defined by Matlab is the inverse of T as defined by ## Goodwin, Graebe, Salgado ## @end deftypefn ## Author: Fabian Alexander Wilms function [first_out, second_out, third_out, fourth_out] = ss2ss(first_in, second_in, third_in, fourth_in, fifth_in) if (nargin != 2 && nargin != 5) print_usage (); endif switch nargin case 2 [A,B,C,D] = ssdata(first_in); % Attention: T as defined by Matlab is the inverse of T as defined by % Goodwin, Graebe, Salgado T = inv(second_in); case 5; A = first_in; B = second_in; C = third_in; D = fourth_in; % see above T = inv(fifth_in); endswitch A_TRANSFORMED = inv(T)*A*T; B_TRANSFORMED = inv(T)*B; C_TRANSFORMED = C*T; D_TRANSFORMED = D; % make number of output variables depend on nargin switch nargin case 2 if nargout > 1 error('Too many output arguments') endif first_out = ss(A_TRANSFORMED,B_TRANSFORMED,C_TRANSFORMED,D_TRANSFORMED); case 5 if nargout > 4 error('Too many output arguments') endif first_out = A_TRANSFORMED; second_out = B_TRANSFORMED; third_out = C_TRANSFORMED; fourth_out = D_TRANSFORMED; endswitch endfunction %!test %! A = [1 2 3; 4 5 6; 7 8 9] %! B = [1; 2; 3] %! C = [-1 0 1] %! D = 0 %! %! [T E] = eig(A) %! %! original_system = ss(A,B,C,D) %! transformed_system = ss2ss(original_system,T) %! assert(transformed_system.a, [0.5755 2.006 -0.8179; 6.684 13.62 -2.585; -4.476 -7.826 0.8073],e-14) %! assert(transformed_system.b, [-0.5789; -3.148; 1.631],e-14) %! assert(transformed_system.c, [0.8912 -0.2231 1.112],e-14) %! assert(transformed_system.d, 0) %! retransformed_system = ss2ss(transformed_system,inv(T)) %! assert(original_system.a,retransformed_system.a,e-14) %! assert(original_system.b,retransformed_system.b,e-14) %! assert(original_system.c,retransformed_system.c,e-14) %! assert(original_system.d,retransformed_system.d,e-14) control-3.2.0/inst/@ss/PaxHeaders.3947/display.m0000644000000000000000000000013213450727360016213 xustar0030 mtime=1554231024.261416109 30 atime=1554231024.261416109 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/display.m0000644000175000017500000000530613450727360016460 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Display routine for SS objects. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function display (sys) sysname = inputname (1); [inname, outname, tsam] = __lti_data__ (sys.lti); stname = sys.stname; inname = __labels__ (inname, "u"); outname = __labels__ (outname, "y"); stname = __labels__ (stname, "x"); disp (""); if (! isempty (sys.e)) __disp_mat__ (sys.e, [sysname, ".e"], stname, stname); endif if (! isempty (sys.a)) __disp_mat__ (sys.a, [sysname, ".a"], stname, stname); __disp_mat__ (sys.b, [sysname, ".b"], stname, inname); __disp_mat__ (sys.c, [sysname, ".c"], outname, stname); endif __disp_mat__ (sys.d, [sysname, ".d"], outname, inname); display (sys.lti); # display sampling time if (tsam == -2) disp ("Static gain."); elseif (tsam == 0) disp ("Continuous-time model."); else disp ("Discrete-time model."); endif endfunction function __disp_mat__ (m, mname, rname, cname) MAX_LEN = 12; # max length of row name and column name [mrows, mcols] = size (m); row_name = strjust (strvcat (" ", rname), "left"); row_name = row_name(:, 1 : min (MAX_LEN, end)); row_name = horzcat (repmat (" ", mrows+1, 3), row_name); mat = cell (1, mcols); for k = 1 : mcols cname{k} = cname{k}(:, 1 : min (MAX_LEN, end)); acol = vertcat (cname(k), cellstr (deblank (num2str (m(:, k), 4)))); mat{k} = strjust (strvcat (acol{:}), "right"); endfor lcols = cellfun (@columns, mat); lcols_max = 2 + max (horzcat (lcols, 1)); for k = 1 : mcols mat{k} = horzcat (repmat (" ", mrows+1, lcols_max-lcols(k)), mat{k}); endfor tsize = terminal_size (); dispcols = max (1, floor ((tsize(2) - columns (row_name)) / lcols_max)); disprows = max (1, ceil (mcols / dispcols)); disp ([mname, " ="]); for k = 1 : disprows disp (horzcat (row_name, mat{1+(k-1)*dispcols : min (mcols, k*dispcols)})); disp (""); endfor endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__set__.m0000644000000000000000000000013213450727360016135 xustar0030 mtime=1554231024.245415498 30 atime=1554231024.245415498 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__set__.m0000644000175000017500000000353713450727360016406 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Set or modify keys of SS objects. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function sys = __set__ (sys, key, val) switch (key) # {, } case "a" __ss_dim__ (val, sys.b, sys.c, sys.d); sys.a = val; case "b" __ss_dim__ (sys.a, val, sys.c, sys.d); sys.b = val; case "c" __ss_dim__ (sys.a, sys.b, val, sys.d); sys.c = val; case "d" __ss_dim__ (sys.a, sys.b, sys.c, val); sys.d = val; case "e" if (isempty (val)) sys.e = []; # avoid [](nx0) or [](0xn) else __ss_dim__ (sys.a, sys.b, sys.c, sys.d, val); sys.e = val; endif case {"stname", "statename"} n = rows (sys.a); sys.stname = __adjust_labels__ (val, n); case "scaled" if (islogical (val) && isscalar (val) || is_real_scalar (val)) sys.scaled = logical (val); else error ("ss: set: key 'scaled' must be a scalar logical"); endif otherwise error ("ss: set: invalid key name '%s'", key); endswitch endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__transpose__.m0000644000000000000000000000013213450727360017360 xustar0030 mtime=1554231024.257415956 30 atime=1554231024.257415956 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__transpose__.m0000644000175000017500000000213113450727360017616 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Transpose of SS models. ## Author: Lukas Reichlin ## Created: February 2010 ## Version: 0.2 function sys = __transpose__ (sys) a = sys.a; b = sys.b; c = sys.c; d = sys.d; e = sys.e; sys.stname = repmat ({""}, rows (a), 1); sys.a = a.'; sys.b = c.'; sys.c = b.'; sys.d = d.'; sys.e = e.'; endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__sys_data__.m0000644000000000000000000000013213450727360017151 xustar0030 mtime=1554231024.253415804 30 atime=1554231024.249415651 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__sys_data__.m0000644000175000017500000000207713450727360017420 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Used by ssdata instead of multiple get calls. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.3 function [a, b, c, d, e, stname, scaled] = __sys_data__ (sys) a = sys.a; b = sys.b; c = sys.c; d = sys.d; e = sys.e; stname = sys.stname; scaled = sys.scaled; endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__sys_keys__.m0000644000000000000000000000013213450727360017213 xustar0030 mtime=1554231024.253415804 30 atime=1554231024.253415804 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__sys_keys__.m0000644000175000017500000000334613450727360017462 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{keys}, @var{vals}] =} __sys_keys__ (@var{sys}) ## @deftypefnx {Function File} {[@var{keys}, @var{vals}] =} __sys_keys__ (@var{sys}, @var{aliases}) ## Return the list of keys as well as the assignable values for a ss object sys. ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.3 function [keys, vals] = __sys_keys__ (sys, aliases = false) ## cell vector of ss-specific keys keys = {"a"; "b"; "c"; "d"; "e"; "stname"; "scaled"}; ## cell vector of ss-specific assignable values vals = {"n-by-n matrix (n = number of states)"; "n-by-m matrix (m = number of inputs)"; "p-by-n matrix (p = number of outputs)"; "p-by-m matrix"; "n-by-n matrix"; "n-by-1 cell vector of strings"; "scalar logical value"}; if (aliases) ka = {"statename"}; keys = [keys; ka]; endif endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__d2c__.m0000644000000000000000000000013213450727360016012 xustar0030 mtime=1554231024.237415193 30 atime=1554231024.237415193 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__d2c__.m0000644000175000017500000000425613450727360016262 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Convert the discrete SS model into its continuous-time equivalent. ## Author: Lukas Reichlin ## Created: September 2011 ## Version: 0.3 function sys = __d2c__ (sys, tsam, method = "zoh", w0 = 0) switch (method(1)) case {"z", "s"} # {"zoh", "std"} [sys.a, sys.b, sys.c, sys.d, sys.e] = __dss2ss__ (sys.a, sys.b, sys.c, sys.d, sys.e); [n, m] = size (sys.b); # n: states, m: inputs tmp = logm ([sys.a, sys.b; zeros(m,n), eye(m)]) / tsam; if (norm (imag (tmp), inf) > sqrt (eps)) warning ("ss: d2c: possibly inaccurate results"); endif sys.a = real (tmp(1:n, 1:n)); sys.b = real (tmp(1:n, n+1:n+m)); case {"t", "b", "p"} # {"tustin", "bilin", "prewarp"} if (method(1) == "p") # prewarping beta = w0 / tan (w0*tsam/2); else beta = 2/tsam; endif if (isempty (sys.e)) [sys.a, sys.b, sys.c, sys.d] = __sl_ab04md__ (sys.a, sys.b, sys.c, sys.d, 1, beta, true); else [sys.a, sys.b, sys.c, sys.d, sys.e] = __dss_bilin__ (sys.a, sys.b, sys.c, sys.d, sys.e, beta, true); endif case "m" # "matched" tmp = ss (d2c (zpk (sys), method)); sys.e = tmp.e; sys.a = tmp.a; sys.b = tmp.b; sys.c = tmp.c; sys.d = tmp.d; otherwise error ("ss: d2c: '%s' is an invalid or missing method", method); endswitch endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__ctranspose__.m0000644000000000000000000000013213450727360017523 xustar0030 mtime=1554231024.237415193 30 atime=1554231024.237415193 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__ctranspose__.m0000644000175000017500000000273313450727360017771 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Conjugate transpose of SS models. ## Author: Lukas Reichlin ## Created: May 2012 ## Version: 0.1 function sys = __ctranspose__ (sys, ct) a = sys.a; b = sys.b; c = sys.c; d = sys.d; e = sys.e; if (ct) # continuous-time sys.a = -a.'; sys.b = -c.'; sys.c = b.'; sys.d = d.'; sys.e = e.'; sys.stname = repmat ({""}, rows (a), 1); else # discrete-time [n, m] = size (b); p = rows (c); if (isempty (e)) e = eye (n); endif sys.a = blkdiag (e.', eye (p)); sys.b = [zeros(n, p); -eye(p)]; sys.c = [b.', zeros(m, p)]; sys.d = d.'; sys.e = [a.', c.'; zeros(p, n+p)]; sys.stname = repmat ({""}, n+p, 1); endif endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__freqresp__.m0000644000000000000000000000013213450727360017171 xustar0030 mtime=1554231024.241415346 30 atime=1554231024.241415346 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__freqresp__.m0000644000175000017500000000243413450727360017435 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Frequency response of SS models. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.6 function H = __freqresp__ (sys, w, cellflag = false) if (sys.scaled == false) sys = prescale (sys); endif [a, b, c, d, e, tsam] = dssdata (sys); if (isct (sys)) # continuous system s = i * w; else # discrete system s = exp (i * w * abs (tsam)); endif H = arrayfun (@(x) c/(x*e - a)*b + d, s, "uniformoutput", false); if (! cellflag) H = cat (3, H{:}); endif endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__sys_connect__.m0000644000000000000000000000013213450727360017671 xustar0030 mtime=1554231024.249415651 30 atime=1554231024.249415651 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__sys_connect__.m0000644000175000017500000000731613450727360020141 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{retsys} =} __sys_connect__ (@var{sys}, @var{M}) ## This function is part of the Model Abstraction Layer. No argument checking. ## For internal use only. ## @example ## @group ## Problem: Solve the system equations of ## . ## E x(t) = A x(t) + B e(t) ## ## y(t) = C x(t) + D e(t) ## ## e(t) = u(t) + M y(t) ## ## in order to build ## . ## K x(t) = F x(t) + G u(t) ## ## y(t) = H x(t) + J u(t) ## ## Solution: Laplace Transformation ## E s X(s) = A X(s) + B U(s) + B M Y(s) [1] ## ## Y(s) = C X(s) + D U(s) + D M Y(s) [2] ## ## solve [2] for Y(s) ## Y(s) = [I - D M]^(-1) C X(s) + [I - D M]^(-1) D U(s) ## ## substitute Z = [I - D M]^(-1) ## Y(s) = Z C X(s) + Z D U(s) [3] ## ## insert [3] in [1], solve for X(s) ## X(s) = [s E - (A + B M Z C)]^(-1) (B + B M Z D) U(s) [4] ## ## inserting [4] in [3] finally yields ## Y(s) = Z C [s E - (A + B M Z C)]^(-1) (B + B M Z D) U(s) + Z D U(s) ## \ / | \_____ _____/ \_____ _____/ \ / ## H K F G J ## @end group ## @end example ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.3 function sys = __sys_connect__ (sys, m) ## FIXME: error for nonsensical stuff like feedback (ss (1), ss (-1)) ## how to detect this? all-zero descriptor matrix? ! any (sys.e(:)) ## TODO: investigate whether all-zero sys.e make sense, ## before disabling them in a rash decision. a = sys.a; b = sys.b; c = sys.c; d = sys.d; z = eye (rows (d)) - d*m; if (rcond (z) >= eps) # check for singularity sys.a = a + b*m/z*c; # F sys.b = b + b*m/z*d; # G sys.c = z\c; # H sys.d = z\d; # J ## sys.e remains constant: [] for ss models, e for dss models else ## construct descriptor model ## try to introduce the least states [pp, mm] = size (d); n = rows (a); if (isempty (sys.e)) sys.e = eye (n); endif if (mm <= pp) ## Introduce state variable e = u + My ## . ## E x = A x + B e + 0 u ## . ## 0 e = MC x + (MD-I) e + I u ## ## y = C x + D e + 0 u ## sys.a = [a, b; m*c, m*d-eye(mm)]; sys.b = [zeros(n,mm); eye(mm)]; sys.c = [c, d]; sys.d = zeros (pp,mm); sys.e = blkdiag (sys.e, zeros (mm)); sys.stname = [sys.stname; repmat({""}, mm, 1)]; else ## Introduce state variable y ## . ## E x = A x + BM y + B u ## . ## 0 y = C x - Z y + D u ## ## y = 0 x + I y + 0 u ## sys.a = [a, b*m; c, -z]; sys.b = [b; d]; sys.c = [zeros(pp, n), eye(pp)]; sys.d = zeros (pp, mm); sys.e = blkdiag (sys.e, zeros (pp)); sys.stname = [sys.stname; repmat({""}, pp, 1)]; endif endif endfunction control-3.2.0/inst/@ss/PaxHeaders.3947/__zero__.m0000644000000000000000000000013213450727360016321 xustar0030 mtime=1554231024.261416109 30 atime=1554231024.261416109 30 ctime=1554231028.525576056 control-3.2.0/inst/@ss/__zero__.m0000644000175000017500000000307113450727360016563 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Invariant zeros of SS object. ## Uses SLICOT AB08ND and AG08BD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.4 function [zer, gain, info] = __zero__ (sys, argc) if (isempty (sys.e)) [zer, gain, rank, infz, kronr, kronl] = __sl_ab08nd__ (sys.a, sys.b, sys.c, sys.d, sys.scaled); else [zer, rank, infz, kronr, kronl] = __sl_ag08bd__ (sys.a, sys.e, sys.b, sys.c, sys.d, sys.scaled); if (argc > 1 && issiso (sys)) pol = pole (sys); gain = __sl_tg04bx__ (sys.a, sys.e, sys.b, sys.c, sys.d, ... real (pol), imag (pol), real (zer), imag (zer)); else gain = []; endif endif info = struct ("rank", rank, "infz", infz, "kronr", kronr, "kronl", kronl); endfunction control-3.2.0/inst/PaxHeaders.3947/__modred_check_weight__.m0000644000000000000000000000013213450727360020573 xustar0030 mtime=1554231024.389420996 30 atime=1554231024.389420996 30 ctime=1554231028.525576056 control-3.2.0/inst/__modred_check_weight__.m0000644000175000017500000000265213450727360021041 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## check weightings for model reduction commands ## Author: Lukas Reichlin ## Created: November 2011 ## Version: 0.1 function [a, b, c, d, job] = __modred_check_weight__ (sys, dt, p = [], m = []) sys = ss (sys); # could be non-lti, therefore ssdata would fail if (dt != isdt (sys)) error ("modred: ct/dt"); # TODO: error message endif [pw, mw] = size (sys); if (! isempty (p) && mw != p) error ("modred: left weight requires %d inputs", p); endif if (! isempty (m) && pw != m) error ("modred: right weight requires %d outputs", m); endif [a, b, c, d] = ssdata (sys); job = 1; ## TODO: check system size endfunction control-3.2.0/inst/PaxHeaders.3947/optiPIDctrl.m0000644000000000000000000000013213450727360016216 xustar0030 mtime=1554231024.565427715 30 atime=1554231024.565427715 30 ctime=1554231028.529576204 control-3.2.0/inst/optiPIDctrl.m0000644000175000017500000000122213450727360016454 0ustar00olafolaf00000000000000% =============================================================================== % optiPIDctrl Lukas Reichlin February 2012 % =============================================================================== % Return PID controller with roll-off for given parameters Kp, Ti and Td. % =============================================================================== function C = optiPIDctrl (Kp, Ti, Td) tau = Td / 10; % roll-off num = Kp * [Ti*Td, Ti, 1]; den = conv ([Ti, 0], [tau^2, 2*tau, 1]); C = tf (num, den); end % =============================================================================== control-3.2.0/inst/PaxHeaders.3947/WestlandLynx.m0000644000000000000000000000013213450727360016455 xustar0030 mtime=1554231024.325418552 30 atime=1554231024.325418552 30 ctime=1554231028.529576204 control-3.2.0/inst/WestlandLynx.m0000644000175000017500000001067313450727360016725 0ustar00olafolaf00000000000000## -*- texinfo -*- ## @deftypefn{Function File} {@var{sys} =} WestlandLynx () ## Model of the Westland Lynx Helicopter about hover. ## @example ## @group ## INPUTS ## main rotor collective ## longitudinal cyclic ## lateral cyclic ## tail rotor collective ## @end group ## @end example ## @example ## @group ## STATES ## pitch attitude theta [rad] ## roll attitude phi [rad] ## roll rate (body-axis) p [rad/s] ## pitch rate (body-axis) q [rad/s] ## yaw rate xi [rad/s] ## forward velocity v_x [ft/s] ## lateral velocity v_y [ft/s] ## vertical velocity v_z [ft/s] ## @end group ## @end example ## @example ## @group ## OUTPUTS ## heave velocity H_dot [ft/s] ## pitch attitude theta [rad] ## roll attitude phi [rad] ## heading rate psi_dot [rad/s] ## roll rate p [rad/s] ## pitch rate q [rad/s] ## @end group ## @end example ## ## @strong{References}@* ## [1] Skogestad, S. and Postlethwaite I. (2005) ## @cite{Multivariable Feedback Control: Analysis and Design: ## Second Edition}. Wiley. ## @url{http://www.nt.ntnu.no/users/skoge/book/2nd_edition/matlab_m/matfiles.html} ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: January 2010 ## Version: 0.1 function sys = WestlandLynx () if (nargin) print_usage (); endif a01 = [ 0 0 0 0.99857378005981; 0 0 1.00000000000000 -0.00318221934140; 0 0 -11.57049560546880 -2.54463768005371; 0 0 0.43935656547546 -1.99818229675293; 0 0 -2.04089546203613 -0.45899915695190; -32.10360717773440 0 -0.50335502624512 2.29785919189453; 0.10216116905212 32.05783081054690 -2.34721755981445 -0.50361156463623; -1.91097259521484 1.71382904052734 -0.00400543212891 -0.05741119384766]; a02 = [ 0.05338427424431 0 0 0; 0.05952465534210 0 0 0; -0.06360262632370 0.10678052902222 -0.09491866827011 0.00710757449269; 0 0.01665188372135 0.01846204698086 -0.00118747074157; -0.73502779006958 0.01925575733185 -0.00459562242031 0.00212036073208; 0 -0.02121581137180 -0.02116791903973 0.01581159234047; 0.83494758605957 0.02122657001019 -0.03787973523140 0.00035400385968; 0 0.01398963481188 -0.00090675335377 -0.29051351547241]; a0 = [a01 a02]; b0 = [ 0 0 0 0; 0 0 0 0; 0.12433505058289 0.08278584480286 -2.75247764587402 -0.01788876950741; -0.03635892271996 0.47509527206421 0.01429074257612 0; 0.30449151992798 0.01495801657438 -0.49651837348938 -0.20674192905426; 0.28773546218872 -0.54450607299805 -0.01637935638428 0; -0.01907348632812 0.01636743545532 -0.54453611373901 0.23484230041504; -4.82063293457031 -0.00038146972656 0 0]; c0 = [ 0 0 0 0 0 0.0595 0.05329 -0.9968; 1.0 0 0 0 0 0 0 0; 0 1.0 0 0 0 0 0 0; 0 0 0 -0.05348 1.0 0 0 0; 0 0 1.0 0 0 0 0 0; 0 0 0 1.0 0 0 0 0]; d0 = zeros (6, 4); inname = {"main rotor collective", "longitudinal cyclic", "lateral cyclic", "tail rotor collective"}; stname = {"theta", "phi", "p", "q", "xi", "v_x", "v_y", "v_z"}; outname = {"H_dot", "theta", "phi", "psi_dot", "p", "q"}; sys = ss (a0, b0, c0, d0, "inname", inname, "stname", stname, "outname", outname); endfunction control-3.2.0/inst/PaxHeaders.3947/dlyapchol.m0000644000000000000000000000013213450727360016000 xustar0030 mtime=1554231024.473424203 30 atime=1554231024.473424203 30 ctime=1554231028.529576204 control-3.2.0/inst/dlyapchol.m0000644000175000017500000000635113450727360016246 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{u} =} dlyapchol (@var{a}, @var{b}) ## @deftypefnx{Function File} {@var{u} =} dlyapchol (@var{a}, @var{b}, @var{e}) ## Compute Cholesky factor of discrete-time Lyapunov equations. ## ## @strong{Equations} ## @example ## @group ## A U' U A' - U' U + B B' = 0 (Lyapunov Equation) ## ## A U' U A' - E U' U E' + B B' = 0 (Generalized Lyapunov Equation) ## @end group ## @end example ## ## @strong{Algorithm}@* ## Uses SLICOT SB03OD and SG03BD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @seealso{dlyap, lyap, lyapchol} ## @end deftypefn ## Author: Lukas Reichlin ## Created: January 2010 ## Version: 0.2.1 function [u, scale] = dlyapchol (a, b, e) switch (nargin) case 2 if (! is_real_square_matrix (a)) ## error ("dlyapchol: a must be real and square"); error ("dlyapchol: %s must be real and square", ... inputname (1)); endif if (! is_real_matrix (b)) ## error ("dlyapchol: b must be real") error ("dlyapchol: %s must be real", ... inputname (2)) endif if (rows (a) != rows (b)) ## error ("dlyapchol: a and b must have the same number of rows"); error ("dlyapchol: %s and %s must have the same number of rows", ... inputname (1), inputname (2)); endif [u, scale] = __sl_sb03od__ (a.', b.', true); ## NOTE: TRANS = 'T' not suitable because we need U' U, not U U' case 3 if (! is_real_square_matrix (a, e)) ## error ("dlyapchol: a, e must be real and square"); error ("dlyapchol: %s, %s must be real and square", ... inputname (1), inputname (3)); endif if (! is_real_matrix (b)) ## error ("dlyapchol: b must be real"); error ("dlyapchol: %s must be real", ... inputname (2)); endif if (rows (b) != rows (a) || rows (e) != rows (a)) ## error ("dlyapchol: a, b, e must have the same number of rows"); error ("dlyapchol: %s, %s, %s must have the same number of rows", ... inputname (1), inputname (2), inputname (3)); endif [u, scale] = __sl_sg03bd__ (a.', e.', b.', true); ## NOTE: TRANS = 'T' not suitable because we need U' U, not U U' otherwise print_usage (); endswitch if (scale < 1) warning ("dlyapchol: solution scaled by %g to prevent overflow", scale); endif endfunction ## TODO: add tests control-3.2.0/inst/PaxHeaders.3947/__conred_sb16ad__.m0000644000000000000000000000013213450727360017227 xustar0030 mtime=1554231024.345419316 30 atime=1554231024.345419316 30 ctime=1554231028.529576204 control-3.2.0/inst/__conred_sb16ad__.m0000644000175000017500000001351313450727360017473 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} __conred_sb16ad__ (@var{method}, @dots{}) ## Backend for btaconred and spaconred. ## @end deftypefn ## Author: Lukas Reichlin ## Created: December 2011 ## Version: 0.1 function [Kr, info] = __conred_sb16ad__ (method, varargin) if (nargin < 3) print_usage (); endif if (method != "bta" && method != "spa") error ("modred: invalid method"); endif G = varargin{1}; K = varargin{2}; varargin = varargin(3:end); if (! isa (G, "lti")) error ("%sconred: first argument must be an LTI system", method); endif if (! isa (K, "lti")) error ("%sconred: second argument must be an LTI system", method); endif if (nargin > 3) # *conred (G, K, ...) if (is_real_scalar (varargin{1})) # *conred (G, K, nr) varargin = horzcat (varargin(2:end), {"order"}, varargin(1)); endif if (isstruct (varargin{1})) # *conred (G, K, opt, ...), *conred (G, K, nr, opt, ...) varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end)); endif ## order placed at the end such that nr from *conred (G, K, nr, ...) ## and *conred (G, K, nr, opt, ...) overrides possible nr's from ## key/value-pairs and inside opt struct (later keys override former keys, ## nr > key/value > opt) endif nkv = numel (varargin); # number of keys and values if (rem (nkv, 2)) error ("%sconred: keys and values must come in pairs", method); endif [a, b, c, d, tsam, scaled] = ssdata (G); [ac, bc, cc, dc, tsamc, scaledc] = ssdata (K); [p, m] = size (G); [pc, mc] = size (K); dt = isdt (G); if (p != mc || m != pc) error ("%sconred: dimensions of controller (%dx%d) and plant (%dx%d) don't match", ... method, pc, mc, p, c); endif ## default arguments alpha = __modred_default_alpha__ (dt); tol1 = 0.0; tol2 = 0.0; jobc = jobo = 0; bf = true; # balancing-free weight = 3; equil = scaled && scaledc; ordsel = 1; ncr = 0; negfb = false; # positive feedback controller ## handle keys and values for k = 1 : 2 : nkv key = lower (varargin{k}); val = varargin{k+1}; switch (key) case "weight" switch (lower (val(1))) case "n" # none weight = 0; case {"l", "o"} # left, output weight = 1; case {"r", "i"} # right, input weight = 2; case {"b", "p"} # both, performance weight = 3; otherwise error ("%sconred: '%s' is an invalid value for key weight", method, val); endswitch case {"order", "ncr", "nr"} [ncr, ordsel] = __modred_check_order__ (val, rows (ac)); case "tol1" tol1 = __modred_check_tol__ (val, "tol1"); case "tol2" tol2 = __modred_check_tol__ (val, "tol2"); case "alpha" alpha = __modred_check_alpha__ (val, dt); case "method" switch (tolower (val)) case "sr" bf = false; case "bfsr" bf = true; otherwise error ("modred: '%s' is an invalid approach", val); endswitch case {"jobc", "gram-ctrb"} jobc = __modred_check_gram__ (val, "gram-ctrb"); case {"jobo", "gram-obsv"} jobo = __modred_check_gram__ (val, "gram-obsv"); case {"equil", "equilibrate", "equilibration", "scale", "scaling"} scaled = __modred_check_equil__ (val); case "feedback" negfb = __conred_check_feedback_sign__ (val); otherwise warning ("%sconred: invalid property name '%s' ignored", method, key); endswitch endfor ## handle model reduction approach if (strcmpi (method, "bta") && ! bf) # 'B': use the square-root Balance & Truncate method jobmr = 0; elseif (strcmpi (method, "bta") && bf) # 'F': use the balancing-free square-root Balance & Truncate method jobmr = 1; elseif (strcmpi (method, "spa") && ! bf) # 'S': use the square-root Singular Perturbation Approximation method jobmr = 2; elseif (strcmpi (method, "spa") && bf) # 'P': use the balancing-free square-root Singular Perturbation Approximation method jobmr = 3; else error ("%smodred: invalid jobmr option"); # this should never happen endif ## handle negative feedback controllers if (negfb) [ac, bc, cc, dc] = ssdata (-K); endif ## perform model order reduction [acr, bcr, ccr, dcr, ncr, hsvc, ncs] = __sl_sb16ad__ (a, b, c, d, dt, equil, ncr, ordsel, alpha, jobmr, ... ac, bc, cc, dc, ... weight, jobc, jobo, tol1, tol2); ## assemble reduced order controller Kr = ss (acr, bcr, ccr, dcr, tsamc); ## handle negative feedback controllers if (negfb) Kr = -Kr; endif ## assemble info struct info = struct ("ncr", ncr, "ncs", ncs, "hsvc", hsvc); endfunction control-3.2.0/inst/PaxHeaders.3947/acker.m0000644000000000000000000000013213450727360015106 xustar0030 mtime=1554231024.429422523 30 atime=1554231024.429422523 30 ctime=1554231028.529576204 control-3.2.0/inst/acker.m0000644000175000017500000000523413450727360015353 0ustar00olafolaf00000000000000## Copyright (C) 2017-2018 Fabian Alexander Wilms ## ## This program is free software; you can redistribute it and/or modify it under ## the terms of the GNU General Public License as published by the Free Software ## Foundation; either version 3 of the License, or (at your option) any later ## version. ## ## This program is distributed in the hope that it will be useful, but WITHOUT ## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or ## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more ## details. ## ## You should have received a copy of the GNU General Public License along with ## this program; if not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{k} =} acker (@var{A}, @var{b}, @var{p}) ## Calculates the state feedback matrix of a completely controllable SISO system ## using Ackermann's formula ## ## Given the state-space system ## @tex ## $$ \dot x = Ax + bu $$ ## @end tex ## @ifnottex ## @example ## @group ## . ## x = Ax + bu ## @end group ## @end example ## @end ifnottex ## ## and the desired closed-loop behaviour ## ## @tex ## $$ p(s) = s^n + \alpha_1 s^{n-1} + ... + \alpha_n $$ ## @end tex ## @ifnottex ## @example ## @group ## p(s) = s^n + a1*s^(n-1) + ... + an ## @end group ## @end example ## @end ifnottex ## ## via the vector p containing the roots of the polynom, the state feedback ## matrix k is calculated: ## ## @tex ## $$ k = (k_1 k_2 ... k_n) $$ ## @end tex ## @ifnottex ## @example ## @group ## k = (k1 k2 ... kn) ## @end group ## @end example ## @end ifnottex ## ## @seealso{place} ## @end deftypefn ## This function uses equation (4) from the paper ## "Sliding mode control design based on Ackermann's formula", ## DOI: 10.1109/9.661072 ## Author: Fabian Alexander Wilms ## Created: May 2017 ## Version: 0.1 function K = acker(A, b, p) if (nargin != 3) print_usage (); endif if (! is_real_square_matrix (A) || ! is_real_vector (b) || rows (A) != rows (b)) error ("acker: matrix A and vector b not conformal"); endif if (! isnumeric (p) || ! isvector (p) || isempty (p)) # p could be complex error ("acker: p must be a vector"); endif p = poly (p); p_A = zeros (size(A)(1), 1); for i=1:size (A)(1)+1 p_A = p_A + p(i) * A ^ (size (A)(2) - (i - 1)); end var = zeros (1, size (ctrb (A,b))); var(size(ctrb(A,b))) = 1; K = var * inv (ctrb (A, b)) * p_A; endfunction %!test %! # https://en.wikipedia.org/wiki/Ackermann's_formula#Example %! A = [1 1; 1 2]; %! B = [1; 0]; %! P = roots ([1 11 30]); %! K = acker(A,B,P); %! assert (K, [14 57]); control-3.2.0/inst/PaxHeaders.3947/__slicot_identification__.m0000644000000000000000000000013213450727360021163 xustar0030 mtime=1554231024.393421149 30 atime=1554231024.393421149 30 ctime=1554231028.529576204 control-3.2.0/inst/__slicot_identification__.m0000644000175000017500000001676713450727360021445 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{sys}, @var{x0}], @var{info} =} __slicot_identification__ (@var{method}, @var{dat}, @dots{}) ## Backend for moesp, moen4 and n4sid. ## @end deftypefn ## Author: Lukas Reichlin ## Created: May 2012 ## Version: 0.1 function [sys, x0, info] = __slicot_identification__ (method, nout, dat, varargin) ## determine identification method switch (method) case "moesp" meth = 0; case "n4sid" meth = 1; case "moen4" meth = 2; otherwise error ("ident: invalid method"); # should never happen endswitch if (! isa (dat, "iddata") || ! dat.timedomain) error ("%s: first argument must be a time-domain 'iddata' dataset", method); endif if (nargin > 3) # ident (dat, ...) if (is_real_scalar (varargin{1})) # ident (dat, n, ...) varargin = horzcat (varargin(2:end), {"order"}, varargin(1)); endif if (isstruct (varargin{1})) # ident (dat, opt, ...), ident (dat, n, opt, ...) varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end)); endif endif nkv = numel (varargin); # number of keys and values if (rem (nkv, 2)) error ("%s: keys and values must come in pairs", method); endif [ns, p, m, e] = size (dat); # dataset dimensions tsam = dat.tsam; ## multi-experiment data requires equal sampling times if (e > 1 && ! isequal (tsam{:})) error ("%s: require equally sampled experiments", method); else tsam = tsam{1}; endif ## default arguments alg = 0; conct = 1; # no connection between experiments ctrl = 1; # don't confirm order n rcond = 0.0; tol = 0.0; # -1.0; s = []; n = []; conf = []; noise = "n"; ## handle keys and values for k = 1 : 2 : nkv key = lower (varargin{k}); val = varargin{k+1}; switch (key) case {"n", "order"} if (! issample (val, 0) || val != round (val)) error ("%s: 'n' must be a positive integer", method); endif n = val; case "s" if (! issample (val, 0) || val != round (val)) error ("%s: 's' must be a positive integer", method); endif s = val; case {"alg", "algorithm"} if (strncmpi (val, "c", 1)) alg = 0; # Cholesky algorithm applied to correlation matrix elseif (strncmpi (val, "f", 1)) alg = 1; # fast QR algorithm elseif (strncmpi (val, "q", 1)) alg = 2; # QR algorithm applied to block Hankel matrices else error ("%s: invalid algorithm", method); endif case "tol" if (! is_real_scalar (val)) error ("%s: tolerance 'tol' must be a real scalar", method); endif tol = val; case "rcond" if (! is_real_scalar (val)) error ("%s: 'rcond' must be a real scalar", method); endif rcond = val; case "confirm" conf = logical (val); case {"noiseinput", "noiseinputs", "noise", "input", "inputs"} noise = val; otherwise warning ("%s: invalid property name '%s' ignored", method, key); endswitch endfor ## handle s/nobr and n nsmp = sum (ns); # total number of samples nobr = fix ((nsmp+1)/(2*(m+p+1))); if (e > 1) nobr = min (nobr, fix (min (ns) / 2)); endif if (nobr < 1) error ("%s: for the given system dimensions (%dx%d), the iddata dataset does not contain enough samples per experiment", ... method, p, m); endif if (isempty (s) && isempty (n)) ctrl = 0; # confirm system order estimate n = 0; elseif (isempty (s)) s = min (2*n, n+10); # upper bound for n nobr = min (nobr, s); elseif (isempty (n)) nobr = __check_s__ (s, nobr, method); ctrl = 0; # confirm system order estimate n = 0; else # s & n non-empty nobr = __check_s__ (s, nobr, method); if (n >= nobr) error ("%s: n=%d, but require n < %d (s)", method, n, nobr); endif endif if (! isempty (conf)) ctrl = ! conf; endif if (nout == 0) ## compute singular values [sv, nrec] = __sl_ib01ad__ (dat.y, dat.u, nobr, n, meth, alg, conct, ctrl, rcond, tol); ## there is no 'logbar' function svl = log10 (sv); base = floor (min (svl)); clf bar (svl, "basevalue", base) xlim ([0, length(sv)+1]) yl = ylim; ylim ([base, yl(2)]) title ("Singular Values") ylabel ("Logarithm of Singular Values") xlabel (sprintf ("Estimated System Order with current Tolerance: %d", nrec)) grid on else ## perform system identification [a, b, c, d, q, ry, s, k, x0] = __sl_ident__ (dat.y, dat.u, nobr, n, meth, alg, conct, ctrl, rcond, tol); ## compute noise variance matrix factor L ## L L' = Ry, e = L v ## v becomes white noise with identity covariance matrix l = chol (ry, "lower"); ## assemble model [inname, outname] = get (dat, "inname", "outname"); if (strncmpi (noise, "e", 1)) # add error inputs e, not normalized sys = ss (a, [b, k], c, [d, eye(p)], tsam); in_u = __labels__ (inname, "u"); in_e = __labels__ (outname, "y"); in_e = cellfun (@(x) ["e@", x], in_e, "uniformoutput", false); inname = [in_u; in_e]; elseif (strncmpi (noise, "v", 1)) # add error inputs v, normalized sys = ss (a, [b, k*l], c, [d, l], tsam); in_u = __labels__ (inname, "u"); in_v = __labels__ (outname, "y"); in_v = cellfun (@(x) ["v@", x], in_v, "uniformoutput", false); inname = [in_u; in_v]; elseif (strncmpi (noise, "k", 1)) # Kalman predictor sys = ss ([a-k*c], [b-k*d, k], c, [d, zeros(p)], tsam); in_u = __labels__ (inname, "u"); in_y = __labels__ (outname, "y"); inname = [in_u; in_y]; else # no error inputs, default sys = ss (a, b, c, d, tsam); endif sys = set (sys, "inname", inname, "outname", outname); ## return x0 as vector for single-experiment data ## instead of a cell containing one vector if (numel (x0) == 1) x0 = x0{1}; endif ## assemble info struct ## Kalman gain matrix K ## state covariance matrix Q ## output covariance matrix Ry ## state-output cross-covariance matrix S ## noise variance matrix factor L info = struct ("K", k, "Q", q, "Ry", ry, "S", s, "L", l); endif endfunction function nobr = __check_s__ (s, nobr, method) if (s <= nobr) nobr = s; else error ("%s: require upper bound s <= %d, but the requested s is %d", method, nobr, s); endif endfunction control-3.2.0/inst/PaxHeaders.3947/gram.m0000644000000000000000000000013213450727360014747 xustar0030 mtime=1554231024.489424814 30 atime=1554231024.489424814 30 ctime=1554231028.529576204 control-3.2.0/inst/gram.m0000644000175000017500000000754613450727360015224 0ustar00olafolaf00000000000000## Copyright (C) 1996, 2000, 2003, 2004, 2005, 2007 ## Auburn University. All rights reserved. ## ## ## This program is free software; you can redistribute it and/or modify it ## under the terms of the GNU General Public License as published by ## the Free Software Foundation; either version 3 of the License, or (at ## your option) any later version. ## ## This program is distributed in the hope that it will be useful, but ## WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU ## General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program; see the file COPYING. If not, see ## . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{W} =} gram (@var{sys}, @var{mode}) ## @deftypefnx {Function File} {@var{Wc} =} gram (@var{a}, @var{b}) ## @code{gram (@var{sys}, "c")} returns the controllability gramian of ## the (continuous- or discrete-time) system @var{sys}. ## @code{gram (@var{sys}, "o")} returns the observability gramian of the ## (continuous- or discrete-time) system @var{sys}. ## @code{gram (@var{a}, @var{b})} returns the controllability gramian ## @var{Wc} of the continuous-time system @math{dx/dt = a x + b u}; ## i.e., @var{Wc} satisfies @math{a Wc + m Wc' + b b' = 0}. ## ## @end deftypefn ## Author: A. S. Hodel ## Adapted-By: Lukas Reichlin ## Date: October 2009 ## Version: 0.2 function W = gram (argin1, argin2) if (nargin != 2) print_usage (); endif if (ischar (argin2)) # the function was called as "gram (sys, mode)" sys = argin1; if (! isa (sys, "lti")) error ("gram: first argument must be an LTI model"); endif [a, b, c] = ssdata (sys); if (strncmpi (argin2, "o", 1)) a = a.'; b = c.'; elseif (! strncmpi (argin2, "c", 1)) print_usage (); endif else # the function was called as "gram (a, b)" a = argin1; b = argin2; ## assume that a and b are matrices of continuous-time system ## values of b, c and d are irrelevant for system stability sys = ss (a, b, zeros (1, columns (a)), zeros (1, columns (b))); endif if (! isstable (sys)) error ("gram: system matrix a must be stable"); endif if (isct (sys)) W = lyap (a, b*b.'); # let lyap do the error checking about dimensions else # discrete-time system W = dlyap (a, b*b.'); # let dlyap do the error checking about dimensions endif endfunction %!test %! a = [-1 0 0; 1/2 -1 0; 1/2 0 -1]; %! b = [1 0; 0 -1; 0 1]; %! c = [0 0 1; 1 1 0]; ## it doesn't matter what the value of c is %! Wc = gram (ss (a, b, c), "c"); %! assert (a * Wc + Wc * a.' + b * b.', zeros (size (a))) %!test %! a = [-1 0 0; 1/2 -1 0; 1/2 0 -1]; %! b = [1 0; 0 -1; 0 1]; ## it doesn't matter what the value of b is %! c = [0 0 1; 1 1 0]; %! Wo = gram (ss (a, b, c), "o"); %! assert (a.' * Wo + Wo * a + c.' * c, zeros (size (a))) %!test %! a = [-1 0 0; 1/2 -1 0; 1/2 0 -1]; %! b = [1 0; 0 -1; 0 1]; %! Wc = gram (a, b); %! assert (a * Wc + Wc * a.' + b * b.', zeros (size (a))) %!test %! a = [-1 0 0; 1/2 1 0; 1/2 0 -1] / 2; %! b = [1 0; 0 -1; 0 1]; %! c = [0 0 1; 1 1 0]; ## it doesn't matter what the value of c is %! d = zeros (rows (c), columns (b)); ## it doesn't matter what the value of d is %! Ts = 0.1; ## Ts != 0 %! Wc = gram (ss (a, b, c, d, Ts), "c"); %! assert (a * Wc * a.' - Wc + b * b.', zeros (size (a)), 1e-12) %!test %! a = [-1 0 0; 1/2 1 0; 1/2 0 -1] / 2; %! b = [1 0; 0 -1; 0 1]; ## it doesn't matter what the value of b is %! c = [0 0 1; 1 1 0]; %! d = zeros (rows (c), columns (b)); ## it doesn't matter what the value of d is %! Ts = 0.1; ## Ts != 0 %! Wo = gram (ss (a, b, c, d, Ts), "o"); %! assert (a.' * Wo * a - Wo + c.' * c, zeros (size (a)), 1e-12) control-3.2.0/inst/PaxHeaders.3947/__ss_dim__.m0000644000000000000000000000013213450727360016073 xustar0030 mtime=1554231024.421422218 30 atime=1554231024.421422218 30 ctime=1554231028.529576204 control-3.2.0/inst/__ss_dim__.m0000644000175000017500000000402313450727360016333 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Number of outputs (p), inputs (m) and states (n) of state space matrices. ## For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.3 function [p, m, n] = __ss_dim__ (a, b, c, d, e = []) [arows, acols] = size (a); [brows, bcols] = size (b); [crows, ccols] = size (c); [drows, dcols] = size (d); m = bcols; # = dcols n = arows; # = acols p = crows; # = drows if (arows != acols) error ("ss: system matrix a(%dx%d) is not square", arows, acols); endif if (brows != arows) error ("ss: system matrices a(%dx%d) and b(%dx%d) are incompatible", arows, acols, brows, bcols); endif if (ccols != acols) error ("ss: system matrices a(%dx%d) and c(%dx%d) are incompatible", arows, acols, crows, ccols); endif if (bcols != dcols) error ("ss: system matrices b(%dx%d) and d(%dx%d) are incompatible", brows, bcols, drows, dcols); endif if (crows != drows) error ("ss: system matrices c(%dx%d) and d(%dx%d) are incompatible", crows, ccols, drows, dcols); endif if (! isempty (e) && ! size_equal (e, a)) error ("ss: system matrices a(%dx%d) and e(%dx%d) are incompatible", arows, acols, rows (e), columns (e)); endif endfunction control-3.2.0/inst/PaxHeaders.3947/lqr.m0000644000000000000000000000013213450727360014617 xustar0030 mtime=1554231024.537426647 30 atime=1554231024.537426647 30 ctime=1554231028.529576204 control-3.2.0/inst/lqr.m0000644000175000017500000000575113450727360015070 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{sys}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{sys}, @var{q}, @var{r}, @var{s}) ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}) ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e}) ## @deftypefnx {Function File} {[@var{g}, @var{x}, @var{l}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e}) ## Linear-quadratic regulator. ## ## @strong{Inputs} ## @table @var ## @item sys ## Continuous or discrete-time @acronym{LTI} model (p-by-m, n states). ## @item a ## State matrix of continuous-time system (n-by-n). ## @item b ## Input matrix of continuous-time system (n-by-m). ## @item q ## State weighting matrix (n-by-n). ## @item r ## Input weighting matrix (m-by-m). ## @item s ## Optional cross term matrix (n-by-m). If @var{s} is not specified, a zero matrix is assumed. ## @item e ## Optional descriptor matrix (n-by-n). If @var{e} is not specified, an identity matrix is assumed. ## @end table ## ## @strong{Outputs} ## @table @var ## @item g ## State feedback matrix (m-by-n). ## @item x ## Unique stabilizing solution of the continuous-time Riccati equation (n-by-n). ## @item l ## Closed-loop poles (n-by-1). ## @end table ## ## @strong{Equations} ## @example ## @group ## . ## x = A x + B u, x(0) = x0 ## ## inf ## J(x0) = INT (x' Q x + u' R u + 2 x' S u) dt ## 0 ## ## L = eig (A - B*G) ## @end group ## @end example ## @seealso{care, dare, dlqr} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 0.2 function [g, x, l] = lqr (a, b, q, r = [], s = [], e = []) if (nargin < 3 || nargin > 6) print_usage (); endif if (isa (a, "lti")) s = r; r = q; q = b; [a, b, c, d, e, tsam] = dssdata (a, []); elseif (nargin < 4) print_usage (); else tsam = 0; endif if (issample (tsam, -1)) [x, l, g] = dare (a, b, q, r, s, e); else [x, l, g] = care (a, b, q, r, s, e); endif endfunction control-3.2.0/inst/PaxHeaders.3947/care.m0000644000000000000000000000013213450727360014733 xustar0030 mtime=1554231024.449423287 30 atime=1554231024.449423287 30 ctime=1554231028.529576204 control-3.2.0/inst/care.m0000644000175000017500000001501013450727360015171 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{x}, @var{l}, @var{g}] =} care (@var{a}, @var{b}, @var{q}, @var{r}) ## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} care (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}) ## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} care (@var{a}, @var{b}, @var{q}, @var{r}, @var{[]}, @var{e}) ## @deftypefnx {Function File} {[@var{x}, @var{l}, @var{g}] =} care (@var{a}, @var{b}, @var{q}, @var{r}, @var{s}, @var{e}) ## Solve continuous-time algebraic Riccati equation (ARE). ## ## @strong{Inputs} ## @table @var ## @item a ## Real matrix (n-by-n). ## @item b ## Real matrix (n-by-m). ## @item q ## Real matrix (n-by-n). ## @item r ## Real matrix (m-by-m). ## @item s ## Optional real matrix (n-by-m). If @var{s} is not specified, a zero matrix is assumed. ## @item e ## Optional descriptor matrix (n-by-n). If @var{e} is not specified, an identity matrix is assumed. ## @end table ## ## @strong{Outputs} ## @table @var ## @item x ## Unique stabilizing solution of the continuous-time Riccati equation (n-by-n). ## @item l ## Closed-loop poles (n-by-1). ## @item g ## Corresponding gain matrix (m-by-n). ## @end table ## ## @strong{Equations} ## @example ## @group ## -1 ## A'X + XA - XB R B'X + Q = 0 ## ## -1 ## A'X + XA - (XB + S) R (B'X + S') + Q = 0 ## ## -1 ## G = R B'X ## ## -1 ## G = R (B'X + S') ## ## L = eig (A - B*G) ## @end group ## @end example ## @example ## @group ## -1 ## A'XE + E'XA - E'XB R B'XE + Q = 0 ## ## -1 ## A'XE + E'XA - (E'XB + S) R (B'XE + S') + Q = 0 ## ## -1 ## G = R B'XE ## ## -1 ## G = R (B'XE + S) ## ## L = eig (A - B*G, E) ## @end group ## @end example ## ## @strong{Algorithm}@* ## Uses SLICOT SB02OD and SG02AD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @seealso{dare, lqr, dlqr, kalman} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 0.5.1 function [x, l, g] = care (a, b, q, r, s = [], e = []) ## TODO: extract feedback matrix g from SB02OD (and SG02AD) if (nargin < 4 || nargin > 6) print_usage (); endif if (! is_real_square_matrix (a, q, r)) ## error ("care: a, q, r must be real and square"); error ("care: %s, %s, %s must be real and square", ... inputname (1), inputname (3), inputname (4)); endif if (! is_real_matrix (b) || rows (a) != rows (b)) ## error ("care: a and b must have the same number of rows"); error ("care: %s and %s must have the same number of rows", ... inputname (1), inputname (2)); endif if (columns (r) != columns (b)) ## error ("care: b and r must have the same number of columns"); error ("care: %s and %s must have the same number of columns", ... inputname (2), inputname (4)); endif if (! is_real_matrix (s) && ! size_equal (s, b)) ## error ("care: s(%dx%d) must be real and identically dimensioned with b(%dx%d)", ## rows (s), columns (s), rows (b), columns (b)); error ("care: %s(%dx%d) must be real and identically dimensioned with %s(%dx%d)", ... inputname (5), rows (s), columns (s), inputname (2), rows (b), columns (b)); endif if (! isempty (e) && (! is_real_square_matrix (e) || ! size_equal (e, a))) ## error ("care: a and e must have the same number of rows"); error ("care: %s and %s must have the same number of rows", ... inputname (1), inputname (6)); endif ## check stabilizability if (! isstabilizable (a, b, e, [], 0)) ## error ("care: (a, b) not stabilizable"); error ("care: (%s, %s) not stabilizable", ... inputname (1), inputname (2)); endif ## check positive semi-definiteness if (isempty (s)) t = zeros (size (b)); else t = s; endif m = [q, t; t.', r]; if (isdefinite (m) < 0) ## error ("care: require [q, s; s.', r] >= 0"); error ("care: require [%s, %s; %s.', %s] >= 0", ... inputname (3), inputname (5), inputname (5), inputname (4)); endif ## solve the riccati equation if (isempty (e)) if (isempty (s)) [x, l] = __sl_sb02od__ (a, b, q, r, b, false, false); g = r \ (b.'*x); # gain matrix else [x, l] = __sl_sb02od__ (a, b, q, r, s, false, true); g = r \ (b.'*x + s.'); # gain matrix endif else if (isempty (s)) [x, l] = __sl_sg02ad__ (a, e, b, q, r, b, false, false); g = r \ (b.'*x*e); # gain matrix else [x, l] = __sl_sg02ad__ (a, e, b, q, r, s, false, true); g = r \ (b.'*x*e + s.'); # gain matrix endif endif endfunction %!shared x, l, g, xe, le, ge %! a = [-3 2 %! 1 1]; %! %! b = [ 0 %! 1]; %! %! c = [ 1 -1]; %! %! r = 3; %! %! [x, l, g] = care (a, b, c.'*c, r); %! %! xe = [ 0.5895 1.8216 %! 1.8216 8.8188]; %! %! le = [-3.5026 %! -1.4370]; %! %! ge = [ 0.6072 2.9396]; %! %!assert (x, xe, 1e-4); %!assert (l, le, 1e-4); %!assert (g, ge, 1e-4); %!shared x, l, g, xe, le, ge %! a = [ 0.0 1.0 %! 0.0 0.0]; %! %! b = [ 0.0 %! 1.0]; %! %! c = [ 1.0 0.0 %! 0.0 1.0 %! 0.0 0.0]; %! %! d = [ 0.0 %! 0.0 %! 1.0]; %! %! [x, l, g] = care (a, b, c.'*c, d.'*d); %! %! xe = [ 1.7321 1.0000 %! 1.0000 1.7321]; %! %! le = [-0.8660 + 0.5000i %! -0.8660 - 0.5000i]; %! %! ge = [ 1.0000 1.7321]; %! %!assert (x, xe, 1e-4); %!assert (l, le, 1e-4); %!assert (g, ge, 1e-4); %!shared x, xe %! a = [ 0.0 1.0 %! 0.0 0.0 ]; %! %! e = [ 1.0 0.0 %! 0.0 1.0 ]; %! %! b = [ 0.0 %! 1.0 ]; %! %! c = [ 1.0 0.0 %! 0.0 1.0 %! 0.0 0.0 ]; %! %! d = [ 0.0 %! 0.0 %! 1.0 ]; %! %! x = care (a, b, c.'*c, d.'*d, [], e); %! %! xe = [ 1.7321 1.0000 %! 1.0000 1.7321 ]; %! %!assert (x, xe, 1e-4); control-3.2.0/inst/PaxHeaders.3947/@tfpoly0000644000000000000000000000013213450727360015203 xustar0030 mtime=1554231024.317418247 30 atime=1554231028.529576204 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/0000755000175000017500000000000013450727360015521 5ustar00olafolaf00000000000000control-3.2.0/inst/@tfpoly/PaxHeaders.3947/minus.m0000644000000000000000000000013213450727360016571 xustar0030 mtime=1554231024.305417789 30 atime=1554231024.305417789 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/minus.m0000644000175000017500000000222113450727360017027 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Subtraction of two polynomials. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function a = minus (a, b) if (! isa (a, "tfpoly")) a = tfpoly (a); endif if (! isa (b, "tfpoly")) b = tfpoly (b); endif [a, b] = __make_equally_long__ (a, b); a.poly = a.poly - b.poly; a = __remove_leading_zeros__ (a); endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/get.m0000644000000000000000000000013213450727360016215 xustar0030 mtime=1554231024.301417636 30 atime=1554231024.301417636 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/get.m0000644000175000017500000000171413450727360016461 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Return coefficients as a row vector. For internal use only. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.1 function coeffs = get (p) coeffs = p.poly; endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/subsref.m0000644000000000000000000000013213450727360017107 xustar0030 mtime=1554231024.313418094 30 atime=1554231024.313418094 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/subsref.m0000644000175000017500000000237713450727360017361 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Evaluate polynomial. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function b = subsref (a, s) if (isempty (s)) error ("tfpoly: missing index"); endif switch (s(1).type) case "()" idx = s(1).subs; if (numel (idx) == 1) b = polyval (a.poly, idx{1}); else error ("tfpoly: need exactly one index"); endif otherwise error ("tfpoly: invalid subscript type"); endswitch endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/conj_ct.m0000644000000000000000000000013213450727360017055 xustar0030 mtime=1554231024.297417484 30 atime=1554231024.297417484 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/conj_ct.m0000644000175000017500000000176213450727360017324 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Conjugate of continuous-time polynomial. Replace s by -s. ## For internal use only. ## Author: Lukas Reichlin ## Created: May 2012 ## Version: 0.1 function p = conj_ct (p) p.poly(2:2:end) = -p.poly(2:2:end); endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/eq.m0000644000000000000000000000013213450727360016043 xustar0030 mtime=1554231024.301417636 30 atime=1554231024.301417636 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/eq.m0000644000175000017500000000202713450727360016305 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Test for equal coefficients. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function bool = eq (a, b) a = tfpoly (a); b = tfpoly (b); bool = (length (a) == length (b)) && all (a.poly == b.poly); endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/roots.m0000644000000000000000000000013213450727360016604 xustar0030 mtime=1554231024.313418094 30 atime=1554231024.313418094 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/roots.m0000644000175000017500000000166513450727360017055 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Compute the roots of a TFPOLY object. ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.1 function r = roots (p) r = roots (p.poly); endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/tfpoly.m0000644000000000000000000000013213450727360016753 xustar0030 mtime=1554231024.313418094 30 atime=1554231024.313418094 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/tfpoly.m0000644000175000017500000000260013450727360017212 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Class constructor. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function p = tfpoly (a) superiorto ("double"); switch (nargin) case 0 p = struct ("poly", []); p = class (p, "tfpoly"); case 1 if (isa (a, "tfpoly")) p = a; return; elseif (is_real_vector (a)) p.poly = reshape (a, 1, []); p = class (p, "tfpoly"); p = __remove_leading_zeros__ (p); else error ("tfpoly: argument must be a real-valued vector"); endif otherwise print_usage (); endswitch endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/length.m0000644000000000000000000000013213450727360016717 xustar0030 mtime=1554231024.305417789 30 atime=1554231024.305417789 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/length.m0000644000175000017500000000170313450727360017161 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Number of coefficients. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function l = length (p) l = length (p.poly); endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/uminus.m0000644000000000000000000000013213450727360016756 xustar0030 mtime=1554231024.317418247 30 atime=1554231024.317418247 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/uminus.m0000644000175000017500000000170013450727360017215 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Unitary minus operator. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function a = uminus (a) a.poly = -a.poly; endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/tfpoly2str.m0000644000000000000000000000013213450727360017566 xustar0030 mtime=1554231024.317418247 30 atime=1554231024.317418247 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/tfpoly2str.m0000644000175000017500000000473013450727360020033 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{str} =} tfpoly2str (@var{p}) ## @deftypefnx {Function File} {@var{str} =} tfpoly2str (@var{p}, @var{tfvar}) ## Return the string of a polynomial with string @var{tfvar} as variable. ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function str = tfpoly2str (p, tfvar = "x") str = ""; lp = numel (p.poly); if (lp > 0) ## first element (highest order) a = p.poly(1); if (a < 0) cs = "-"; else cs = ""; endif if (lp == 1) str = [cs, num2str(abs (a), 4)]; else if (abs (a) == 1) str = [cs, __variable__(tfvar, lp-1)]; else str = [cs, __coefficient__(a), " ", __variable__(tfvar, lp-1)]; endif endif if (lp > 1) ## elements in the middle for k = 2 : lp-1 a = p.poly(k); if (a != 0) if (a < 0) cs = " - "; else cs = " + "; endif if (abs (a) == 1) str = [str, cs, __variable__(tfvar, lp-k)]; else str = [str, cs, __coefficient__(a), " ", __variable__(tfvar, lp-k)]; endif endif endfor ## last element (lowest order) a = p.poly(lp); if (a != 0) if (a < 0) cs = " - "; else cs = " + "; endif str = [str, cs, num2str(abs (a), 4)]; endif endif endif endfunction function str = __coefficient__ (a) b = abs (a); if (b == 1) str = ""; else str = num2str (b, 4); endif endfunction function str = __variable__ (tfvar, n) if (n == 1) str = tfvar; else str = [tfvar, "^", num2str(n)]; endif endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/conj_dt.m0000644000000000000000000000013213450727360017056 xustar0030 mtime=1554231024.297417484 30 atime=1554231024.297417484 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/conj_dt.m0000644000175000017500000000174713450727360017330 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Conjugate of discrete-time polynomial. Replace z by 1/z. ## For internal use only. ## Author: Lukas Reichlin ## Created: May 2012 ## Version: 0.1 function p = conj_dt (p) p.poly = fliplr (p.poly); endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/mtimes.m0000644000000000000000000000013213450727360016734 xustar0030 mtime=1554231024.309417942 30 atime=1554231024.309417942 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/mtimes.m0000644000175000017500000000211413450727360017173 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Multiplication of two polynomials. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function a = mtimes (a, b) if (! isa (a, "tfpoly")) a = tfpoly (a); endif if (! isa (b, "tfpoly")) b = tfpoly (b); endif a.poly = conv (a.poly, b.poly); endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/mpower.m0000644000000000000000000000013213450727360016747 xustar0030 mtime=1554231024.305417789 30 atime=1554231024.305417789 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/mpower.m0000644000175000017500000000242413450727360017212 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Power of a polynomial. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function p = mpower (a, b) if (! isa (b, "double") && ! is_real_scalar (b)) error ("tfpoly: mpower: power must be a natural number"); endif c = uint64 (b); if (c != b) error ("tfpoly: mpower: power must be a positive integer"); endif if (c == 0) p = tfpoly (1); return; endif p = a; for k = 1 : (c-1) p.poly = conv (p.poly, a.poly); endfor endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/is_zero.m0000644000000000000000000000013213450727360017110 xustar0030 mtime=1554231024.301417636 30 atime=1554231024.301417636 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/is_zero.m0000644000175000017500000000171713450727360017357 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Check whether tfpoly is zero. For internal use only. ## Author: Lukas Reichlin ## Created: September 2013 ## Version: 0.1 function bool = is_zero (p) bool = ! any (p.poly); endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/__make_equally_long__.m0000644000000000000000000000013213450727360021722 xustar0030 mtime=1554231024.293417331 30 atime=1554231024.293417331 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/__make_equally_long__.m0000644000175000017500000000222413450727360022163 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Make two polynomials equally long by adding leading zeros ## to the shorter one. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function [a, b] = __make_equally_long__ (a, b) la = length (a.poly); lb = length (b.poly); lmax = max (la, lb); a.poly = [zeros(1, lmax-la), a.poly]; b.poly = [zeros(1, lmax-lb), b.poly]; endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/display.m0000644000000000000000000000013213450727360017103 xustar0030 mtime=1554231024.301417636 30 atime=1554231024.301417636 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/display.m0000644000175000017500000000167013450727360017350 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Display routine. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function display (p) tfpoly2str (p, "s") endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/plus.m0000644000000000000000000000013213450727360016421 xustar0030 mtime=1554231024.309417942 30 atime=1554231024.309417942 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/plus.m0000644000175000017500000000221513450727360016662 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Addition of two polynomials. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function a = plus (a, b) if (! isa (a, "tfpoly")) a = tfpoly (a); endif if (! isa (b, "tfpoly")) b = tfpoly (b); endif [a, b] = __make_equally_long__ (a, b); a.poly = a.poly + b.poly; a = __remove_leading_zeros__ (a); endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/uplus.m0000644000000000000000000000013213450727360016606 xustar0030 mtime=1554231024.317418247 30 atime=1554231024.317418247 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/uplus.m0000644000175000017500000000167613450727360017061 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Unitary plus operator. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function a = uplus (a) a.poly = +a.poly; endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/numel.m0000644000000000000000000000013213450727360016556 xustar0030 mtime=1554231024.309417942 30 atime=1554231024.309417942 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/numel.m0000644000175000017500000000170113450727360017016 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Number of coefficients. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function n = numel (p) n = numel (p.poly); endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/__remove_leading_zeros__.m0000644000000000000000000000013213450727360022434 xustar0030 mtime=1554231024.297417484 30 atime=1554231024.297417484 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/__remove_leading_zeros__.m0000644000175000017500000000223113450727360022673 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Remove leading zeros from a polynomial, except for polynomials ## which are of length 1. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.2 function p = __remove_leading_zeros__ (p) idx = find (p.poly != 0); if (isempty (idx)) p.poly = 0; else p.poly = p.poly(idx(1) : end); # p.poly(idx) would remove all zeros endif endfunction control-3.2.0/inst/@tfpoly/PaxHeaders.3947/ne.m0000644000000000000000000000013213450727360016040 xustar0030 mtime=1554231024.309417942 30 atime=1554231024.309417942 30 ctime=1554231028.529576204 control-3.2.0/inst/@tfpoly/ne.m0000644000175000017500000000204413450727360016301 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Return true if polynomials are not equal. For internal use only. ## Author: Lukas Reichlin ## Created: September 2009 ## Version: 0.1 function bool = ne (a, b) a = tfpoly (a); b = tfpoly (b); bool = (length (a) != length (b)) || any (a.poly != b.poly); endfunction control-3.2.0/inst/PaxHeaders.3947/lyap.m0000644000000000000000000000013213450727360014766 xustar0030 mtime=1554231024.541426799 30 atime=1554231024.541426799 30 ctime=1554231028.529576204 control-3.2.0/inst/lyap.m0000644000175000017500000001202113450727360015223 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{x} =} lyap (@var{a}, @var{b}) ## @deftypefnx{Function File} {@var{x} =} lyap (@var{a}, @var{b}, @var{c}) ## @deftypefnx{Function File} {@var{x} =} lyap (@var{a}, @var{b}, @var{[]}, @var{e}) ## Solve continuous-time Lyapunov or Sylvester equations. ## ## @strong{Equations} ## @example ## @group ## AX + XA' + B = 0 (Lyapunov Equation) ## ## AX + XB + C = 0 (Sylvester Equation) ## ## AXE' + EXA' + B = 0 (Generalized Lyapunov Equation) ## @end group ## @end example ## ## @strong{Algorithm}@* ## Uses SLICOT SB03MD, SB04MD and SG03AD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @seealso{lyapchol, dlyap, dlyapchol} ## @end deftypefn ## Author: Lukas Reichlin ## Created: January 2010 ## Version: 0.2.1 function [x, scale] = lyap (a, b, c, e) scale = 1; switch (nargin) case 2 # Lyapunov equation if (! is_real_square_matrix (a, b)) ## error ("lyap: a, b must be real and square"); error ("lyap: %s, %s must be real and square", ... inputname (1), inputname (2)); endif if (rows (a) != rows (b)) ## error ("lyap: a, b must have the same number of rows"); error ("lyap: %s, %s must have the same number of rows", ... inputname (1), inputname (2)); endif [x, scale] = __sl_sb03md__ (a, -b, false); # AX + XA' = -B ## x /= scale; # 0 < scale <= 1 case 3 # Sylvester equation if (! is_real_square_matrix (a, b)) ## error ("lyap: a, b must be real and square"); error ("lyap: %s, %s must be real and square", ... inputname (1), inputname (2)); endif if (! is_real_matrix (c) || rows (c) != rows (a) || columns (c) != columns (b)) ## error ("lyap: c must be a real (%dx%d) matrix", rows (a), columns (b)); error ("lyap: %s must be a real (%dx%d) matrix", ... rows (a), columns (b), inputname (3)); endif x = __sl_sb04md__ (a, b, -c); # AX + XB = -C case 4 # generalized Lyapunov equation if (! isempty (c)) print_usage (); endif if (! is_real_square_matrix (a, b, e)) ## error ("lyap: a, b, e must be real and square"); error ("lyap: %s, %s, %s must be real and square", ... inputname (1), inputname (2), inputname (4)); endif if (rows (b) != rows (a) || rows (e) != rows (a)) ## error ("lyap: a, b, e must have the same number of rows"); error ("lyap: %s, %s, %s must have the same number of rows", ... inputname (1), inputname (2), inputname (4)); endif if (! issymmetric (b)) ## error ("lyap: b must be symmetric"); error ("lyap: %s must be symmetric", ... inputname (2)); endif [x, scale] = __sl_sg03ad__ (a, e, -b, false); # AXE' + EXA' = -B ## x /= scale; # 0 < scale <= 1 otherwise print_usage (); endswitch if (scale < 1) warning ("lyap: solution scaled by %g to prevent overflow", scale); endif endfunction ## Lyapunov %!shared X, X_exp %! A = [1, 2; -3, -4]; %! Q = [3, 1; 1, 1]; %! X = lyap (A, Q); %! X_exp = [ 6.1667, -3.8333; %! -3.8333, 3.0000]; %!assert (X, X_exp, 1e-4); ## Sylvester %!shared X, X_exp %! A = [2.0 1.0 3.0 %! 0.0 2.0 1.0 %! 6.0 1.0 2.0]; %! %! B = [2.0 1.0 %! 1.0 6.0]; %! %! C = [2.0 1.0 %! 1.0 4.0 %! 0.0 5.0]; %! %! X = lyap (A, B, -C); %! %! X_exp = [-2.7685 0.5498 %! -1.0531 0.6865 %! 4.5257 -0.4389]; %! %!assert (X, X_exp, 1e-4); ## Generalized Lyapunov %!shared X, X_exp %! A = [ 3.0 1.0 1.0 %! 1.0 3.0 0.0 %! 1.0 0.0 2.0]; %! %! E = [ 1.0 3.0 0.0 %! 3.0 2.0 1.0 %! 1.0 0.0 1.0]; %! %! B = [-64.0 -73.0 -28.0 %! -73.0 -70.0 -25.0 %! -28.0 -25.0 -18.0]; %! %! X = lyap (A.', -B, [], E.'); %! %! X_exp = [-2.0000 -1.0000 0.0000 %! -1.0000 -3.0000 -1.0000 %! 0.0000 -1.0000 -3.0000]; %! %!assert (X, X_exp, 1e-4); control-3.2.0/inst/PaxHeaders.3947/dlyap.m0000644000000000000000000000013213450727360015132 xustar0030 mtime=1554231024.465423898 30 atime=1554231024.465423898 30 ctime=1554231028.529576204 control-3.2.0/inst/dlyap.m0000644000175000017500000001155713450727360015404 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{x} =} dlyap (@var{a}, @var{b}) ## @deftypefnx{Function File} {@var{x} =} dlyap (@var{a}, @var{b}, @var{c}) ## @deftypefnx{Function File} {@var{x} =} dlyap (@var{a}, @var{b}, @var{[]}, @var{e}) ## Solve discrete-time Lyapunov or Sylvester equations. ## ## @strong{Equations} ## @example ## @group ## AXA' - X + B = 0 (Lyapunov Equation) ## ## AXB' - X + C = 0 (Sylvester Equation) ## ## AXA' - EXE' + B = 0 (Generalized Lyapunov Equation) ## @end group ## @end example ## ## @strong{Algorithm}@* ## Uses SLICOT SB03MD, SB04QD and SG03AD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @seealso{dlyapchol, lyap, lyapchol} ## @end deftypefn ## Author: Lukas Reichlin ## Created: January 2010 ## Version: 0.2.1 function [x, scale] = dlyap (a, b, c, e) scale = 1; switch (nargin) case 2 # Lyapunov equation if (! is_real_square_matrix (a, b)) ## error ("dlyap: a, b must be real and square"); error ("dlyap: %s, %s must be real and square", ... inputname (1), inputname (2)); endif if (rows (a) != rows (b)) ## error ("dlyap: a, b must have the same number of rows"); error ("dlyap: %s, %s must have the same number of rows", ... inputname (1), inputname (2)); endif [x, scale] = __sl_sb03md__ (a, -b, true); # AXA' - X = -B ## x /= scale; # 0 < scale <= 1 case 3 # Sylvester equation if (! is_real_square_matrix (a, b)) ## error ("dlyap: a, b must be real and square"); error ("dlyap: %s, %s must be real and square", ... inputname (1), inputname (2)); endif if (! is_real_matrix (c) || rows (c) != rows (a) || columns (c) != columns (b)) ## error ("dlyap: c must be a real (%dx%d) matrix", rows (a), columns (b)); error ("dlyap: %s must be a real (%dx%d) matrix", ... rows (a), columns (b), inputname (3)); endif x = __sl_sb04qd__ (-a, b, c); # AXB' - X = -C case 4 # generalized Lyapunov equation if (! isempty (c)) print_usage (); endif if (! is_real_square_matrix (a, b, e)) ## error ("dlyap: a, b, e must be real and square"); error ("dlyap: %s, %s, %s must be real and square", ... inputname (1), inputname (2), inputname (4)); endif if (rows (b) != rows (a) || rows (e) != rows (a)) ## error ("dlyap: a, b, e must have the same number of rows"); error ("dlyap: %s, %s, %s must have the same number of rows", ... inputname (1), inputname (2), inputname (4)); endif if (! issymmetric (b)) ## error ("dlyap: b must be symmetric"); error ("dlyap: %s must be symmetric", ... inputname (2)); endif [x, scale] = __sl_sg03ad__ (a, e, -b, true); # AXA' - EXE' = -B ## x /= scale; # 0 < scale <= 1 otherwise print_usage (); endswitch if (scale < 1) warning ("dlyap: solution scaled by %g to prevent overflow", scale); endif endfunction ## Lyapunov %!shared X, X_exp %! A = [3.0 1.0 1.0 %! 1.0 3.0 0.0 %! 0.0 0.0 3.0]; %! %! B = [25.0 24.0 15.0 %! 24.0 32.0 8.0 %! 15.0 8.0 40.0]; %! %! X = dlyap (A.', -B); %! %! X_exp = [2.0000 1.0000 1.0000 %! 1.0000 3.0000 0.0000 %! 1.0000 0.0000 4.0000]; %! %!assert (X, X_exp, 1e-4); ## Sylvester %!shared X, X_exp %! A = [1.0 2.0 3.0 %! 6.0 7.0 8.0 %! 9.0 2.0 3.0]; %! %! B = [7.0 2.0 3.0 %! 2.0 1.0 2.0 %! 3.0 4.0 1.0]; %! %! C = [271.0 135.0 147.0 %! 923.0 494.0 482.0 %! 578.0 383.0 287.0]; %! %! X = dlyap (-A, B, C); %! %! X_exp = [2.0000 3.0000 6.0000 %! 4.0000 7.0000 1.0000 %! 5.0000 3.0000 2.0000]; %! %!assert (X, X_exp, 1e-4); ## Generalized Lyapunov ## TODO: add a test control-3.2.0/inst/PaxHeaders.3947/moesp.m0000644000000000000000000000013013450727360015142 xustar0029 mtime=1554231024.55742741 29 atime=1554231024.55742741 30 ctime=1554231028.529576204 control-3.2.0/inst/moesp.m0000644000175000017500000001652713450727360015420 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{sys}, @var{x0}, @var{info}] =} moesp (@var{dat}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}, @var{info}] =} moesp (@var{dat}, @var{n}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}, @var{info}] =} moesp (@var{dat}, @var{opt}, @dots{}) ## @deftypefnx {Function File} {[@var{sys}, @var{x0}, @var{info}] =} moesp (@var{dat}, @var{n}, @var{opt}, @dots{}) ## Estimate state-space model using @acronym{MOESP} algorithm. ## @acronym{MOESP}: Multivariable Output Error State sPace. ## If no output arguments are given, the singular values are ## plotted on the screen in order to estimate the system order. ## ## @strong{Inputs} ## @table @var ## @item dat ## iddata set containing the measurements, i.e. time-domain signals. ## @item n ## The desired order of the resulting state-space system @var{sys}. ## If not specified, @var{n} is chosen automatically according ## to the singular values and tolerances. ## @item @dots{} ## Optional pairs of keys and values. @code{'key1', value1, 'key2', value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## ## @strong{Outputs} ## @table @var ## @item sys ## Discrete-time state-space model. ## @item x0 ## Initial state vector. If @var{dat} is a multi-experiment dataset, ## @var{x0} becomes a cell vector containing an initial state vector ## for each experiment. ## @item info ## Struct containing additional information. ## @table @var ## @item info.K ## Kalman gain matrix. ## @item info.Q ## State covariance matrix. ## @item info.Ry ## Output covariance matrix. ## @item info.S ## State-output cross-covariance matrix. ## @item info.L ## Noise variance matrix factor. LL'=Ry. ## @end table ## @end table ## ## ## ## @strong{Option Keys and Values} ## @table @var ## @item 'n' ## The desired order of the resulting state-space system @var{sys}. ## @var{s} > @var{n} > 0. ## ## @item 's' ## The number of block rows @var{s} in the input and output ## block Hankel matrices to be processed. @var{s} > 0. ## In the MOESP theory, @var{s} should be larger than @var{n}, ## the estimated dimension of state vector. ## ## @item 'alg', 'algorithm' ## Specifies the algorithm for computing the triangular ## factor R, as follows: ## @table @var ## @item 'C' ## Cholesky algorithm applied to the correlation ## matrix of the input-output data. Default method. ## @item 'F' ## Fast QR algorithm. ## @item 'Q' ## QR algorithm applied to the concatenated block ## Hankel matrices. ## @end table ## ## @item 'tol' ## Absolute tolerance used for determining an estimate of ## the system order. If @var{tol} >= 0, the estimate is ## indicated by the index of the last singular value greater ## than or equal to @var{tol}. (Singular values less than @var{tol} ## are considered as zero.) When @var{tol} = 0, an internally ## computed default value, @var{tol} = @var{s}*@var{eps}*SV(1), is used, ## where SV(1) is the maximal singular value, and @var{eps} is ## the relative machine precision. ## When @var{tol} < 0, the estimate is indicated by the ## index of the singular value that has the largest ## logarithmic gap to its successor. Default value is 0. ## ## @item 'rcond' ## The tolerance to be used for estimating the rank of ## matrices. If the user sets @var{rcond} > 0, the given value ## of @var{rcond} is used as a lower bound for the reciprocal ## condition number; an m-by-n matrix whose estimated ## condition number is less than 1/@var{rcond} is considered to ## be of full rank. If the user sets @var{rcond} <= 0, then an ## implicitly computed, default tolerance, defined by ## @var{rcond} = m*n*@var{eps}, is used instead, where @var{eps} is the ## relative machine precision. Default value is 0. ## ## @item 'confirm' ## Specifies whether or not the user's confirmation of the ## system order estimate is desired, as follows: ## @table @var ## @item true ## User's confirmation. ## @item false ## No confirmation. Default value. ## @end table ## ## @item 'noiseinput' ## The desired type of noise input channels. ## @table @var ## @item 'n' ## No error inputs. Default value. ## @iftex ## @tex ## $$ x_{k+1} = A x_k + B u_k $$ ## $$ y_k = C x_k + D u_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## x[k+1] = A x[k] + B u[k] ## y[k] = C x[k] + D u[k] ## @end example ## @end ifnottex ## ## @item 'e' ## Return @var{sys} as a (p-by-m+p) state-space model with ## both measured input channels u and noise channels e ## with covariance matrix @var{Ry}. ## @iftex ## @tex ## $$ x_{k+1} = A x_k + B u_k + K e_k $$ ## $$ y_k = C x_k + D u_k + e_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## x[k+1] = A x[k] + B u[k] + K e[k] ## y[k] = C x[k] + D u[k] + e[k] ## @end example ## @end ifnottex ## ## @item 'v' ## Return @var{sys} as a (p-by-m+p) state-space model with ## both measured input channels u and white noise channels v ## with identity covariance matrix. ## @iftex ## @tex ## $$ x_{k+1} = A x_k + B u_k + K L v_k $$ ## $$ y_k = C x_k + D u_k + L v_k $$ ## $$ e = L v, \\ L L^T = R_y $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## x[k+1] = A x[k] + B u[k] + K L v[k] ## y[k] = C x[k] + D u[k] + L v[k] ## e = L v, L L' = Ry ## @end example ## @end ifnottex ## ## @item 'k' ## Return @var{sys} as a Kalman predictor for simulation. ## @iftex ## @tex ## $$ \\widehat{x}_{k+1} = A \\widehat{x}_k + B u_k + K (y_k - \\widehat{y}_k) $$ ## $$ \\widehat{y}_k = C \\widehat{x}_k + D u_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ^ ^ ^ ## x[k+1] = A x[k] + B u[k] + K(y[k] - y[k]) ## ^ ^ ## y[k] = C x[k] + D u[k] ## @end example ## @end ifnottex ## ## @iftex ## @tex ## $$ \\widehat{x}_{k+1} = (A-KC) \\widehat{x}_k + (B-KD) u_k + K y_k $$ ## $$ \\widehat{y}_k = C \\widehat{x}_k + D u_k + 0 y_k $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ^ ^ ## x[k+1] = (A-KC) x[k] + (B-KD) u[k] + K y[k] ## ^ ^ ## y[k] = C x[k] + D u[k] + 0 y[k] ## @end example ## @end ifnottex ## @end table ## @end table ## ## ## @strong{Algorithm}@* ## Uses SLICOT IB01AD, IB01BD and IB01CD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: May 2012 ## Version: 0.1 function [sys, x0, info] = moesp (varargin) if (nargin == 0) print_usage (); endif if (nargout == 0) __slicot_identification__ ("moesp", nargout, varargin{:}); else [sys, x0, info] = __slicot_identification__ ("moesp", nargout, varargin{:}); endif endfunction control-3.2.0/inst/PaxHeaders.3947/ramp.m0000644000000000000000000000013213450727360014760 xustar0030 mtime=1554231024.577428174 30 atime=1554231024.577428174 30 ctime=1554231028.529576204 control-3.2.0/inst/ramp.m0000644000175000017500000000677313450727360015236 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {} ramp (@var{sys}) ## @deftypefnx{Function File} {} ramp (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}) ## @deftypefnx{Function File} {} ramp (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'}) ## @deftypefnx{Function File} {} ramp (@var{sys1}, @dots{}, @var{t}) ## @deftypefnx{Function File} {} ramp (@var{sys1}, @dots{}, @var{tfinal}) ## @deftypefnx{Function File} {} ramp (@var{sys1}, @dots{}, @var{tfinal}, @var{dt}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} ramp (@var{sys}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} ramp (@var{sys}, @var{t}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} ramp (@var{sys}, @var{tfinal}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} ramp (@var{sys}, @var{tfinal}, @var{dt}) ## Ramp response of @acronym{LTI} system. ## If no output arguments are given, the response is printed on the screen. ## @iftex ## @tex ## $$ r(t) = t \\, \\cdot \\, h(t) $$ ## @end tex ## @end iftex ## @ifnottex ## ## @example ## r(t) = t * h(t) ## @end example ## ## @end ifnottex ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @item t ## Time vector. Should be evenly spaced. If not specified, it is calculated by ## the poles of the system to reflect adequately the response transients. ## @item tfinal ## Optional simulation horizon. If not specified, it is calculated by ## the poles of the system to reflect adequately the response transients. ## @item dt ## Optional sampling time. Be sure to choose it small enough to capture transient ## phenomena. If not specified, it is calculated by the poles of the system. ## @item 'style' ## Line style and color, e.g. 'r' for a solid red line or '-.k' for a dash-dotted ## black line. See @command{help plot} for details. ## @end table ## ## @strong{Outputs} ## @table @var ## @item y ## Output response array. Has as many rows as time samples (length of t) ## and as many columns as outputs. ## @item t ## Time row vector. ## @item x ## State trajectories array. Has @code{length (t)} rows and as many columns as states. ## @end table ## ## @seealso{impulse, initial, lsim, step} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2012 ## Version: 1.0 function [y_r, t_r, x_r] = ramp (varargin) if (nargin == 0) print_usage (); endif [y, t, x] = __time_response__ ("ramp", varargin, nargout); if (nargout) y_r = y{1}; t_r = t{1}; x_r = x{1}; endif endfunction %!demo %! clf; %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! ramp(g); %! title ("Ramp response of a PT2 transfer function"); %!demo %! clf; %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! h = c2d(g,0.1); %! ramp(h); %! title ("Ramp response of a discretized PT2 transfer function"); control-3.2.0/inst/PaxHeaders.3947/Madievski.m0000644000000000000000000000013213450727360015735 xustar0030 mtime=1554231024.325418552 30 atime=1554231024.325418552 30 ctime=1554231028.529576204 control-3.2.0/inst/Madievski.m0000644000175000017500000001252113450727360016177 0ustar00olafolaf00000000000000%% -*- texinfo -*- %% Demonstration of frequency-weighted controller reduction. %% The system considered in this example has been studied by Madievski and %% Anderson [1] and comprises four spinning disks. The disks are connected by a %% flexible rod, a motor applies torque to the third disk, and the angular %% displacement of the first disk is the variable of interest. The state-space %% model of eighth order is non-minimumphase and unstable. %% The continuous-time LQG controller used in [1] is open-loop stable and of %% eighth order like the plant. This eighth-order controller shall be reduced by %% frequency-weighted singular perturbation approximation (SPA). %% The major aim of this reduction is the preservation of the closed-loop %% transfer function. This means that the error in approximation of the %% controller @var{K} by the reduced-order controller @var{Kr} is minimized by %% @iftex %% @tex %% $$ \\underset{K_r}{\\min} \\ || W \\ (K - K_r) \\ V ||_{\\infty} $$ %% @end tex %% @end iftex %% @ifnottex %% @example %% min ||W (K-Kr) V|| %% Kr inf %% @end example %% @end ifnottex %% where weights @var{W} and @var{V} are dictated by the requirement to preserve %% (as far as possible) the closed-loop transfer function. In minimizing the %% error, they cause the approximation process for @var{K} to be more accurate at %% certain frequencies. Suggested by [1] is the use of the following stability %% and performance enforcing weights: %% @iftex %% @tex %% $$ W = (I - G K)^{-1} G, \\qquad V = (I - G K)^{-1} $$ %% @end tex %% @end iftex %% @ifnottex %% @example %% -1 -1 %% W = (I - G K) G, V = (I - G K) %% @end example %% @end ifnottex %% This example script reduces the eighth-order controller to orders four and two %% by the function call %% @code{Kr = spaconred (G, K, nr, 'feedback', '-')} %% where argument @var{nr} denotes the desired order (4 or 2). The key-value %% pair @code{'feedback', '-'} allows the reduction of negative feedback %% controllers while the default setting expects positive feedback controllers. %% The frequency responses of the original and reduced-order controllers are %% depicted in figure 1, the step responses of the closed loop in figure 2. %% There is no visible difference between the step responses of the closed-loop %% systems with original (blue) and fourth order (green) controllers. %% The second order controller (red) causes ripples in the step response, but %% otherwise the behavior of the system is unaltered. This leads to the %% conclusion that function @command{spaconred} is well suited to reduce the %% order of controllers considerably, while stability and performance are %% retained. %% @*@strong{Reference}@* %% [1] Madievski, A.G. and Anderson, B.D.O. %% @cite{Sampled-Data Controller Reduction Procedure}, %% IEEE Transactions of Automatic Control, %% Vol. 40, No. 11, November 1995 % =============================================================================== % Frequency Weighted Controller Reduction Lukas Reichlin December 2011 % =============================================================================== % Tabula Rasa clear all, close all, clc % Plant Ap1 = [ 0.0 1.0 0.0 0.0 ]; Ap2 = [ -0.015 0.765 -0.765 -0.015 ]; Ap3 = [ -0.028 1.410 -1.410 -0.028 ]; Ap4 = [ -0.04 1.85 -1.85 -0.04 ]; Ap = blkdiag (Ap1, Ap2, Ap3, Ap4); Bp = [ 0.026 -0.251 0.033 -0.886 -4.017 0.145 3.604 0.280 ]; Cp = [ -0.996 -0.105 0.261 0.009 -0.001 -0.043 0.002 -0.026 ]; Dp = [ 0.0 ]; P = ss (Ap, Bp, Cp, Dp); % Controller Ac = [ -0.4077 0.9741 0.1073 0.0131 0.0023 -0.0186 -0.0003 -0.0098 -0.0977 -0.1750 0.0215 -0.0896 -0.0260 0.0057 0.0109 -0.0105 0.0011 0.0218 -0.0148 0.7769 0.0034 -0.0013 -0.0014 0.0011 -0.0361 -0.5853 -0.7701 -0.3341 -0.0915 0.0334 0.0378 -0.0290 -0.1716 -2.6546 -0.0210 -1.4467 -0.4428 1.5611 0.1715 -0.1318 -0.0020 0.0950 0.0029 0.0523 -1.3950 -0.0338 -0.0062 0.0045 0.1607 2.3824 0.0170 1.2979 0.3721 -0.1353 -0.1938 1.9685 -0.0006 0.1837 0.0048 0.1010 0.0289 -0.0111 -1.8619 -0.0311 ]; Bc = [ -0.4105 -0.0868 -0.0004 0.0036 0.0081 -0.0085 -0.0004 -0.0132 ]; Cc = [ -0.0447 -0.6611 -0.0047 -0.3601 -0.1033 0.0375 0.0427 -0.0329 ]; Dc = [ 0.0 ]; K = ss (Ac, Bc, Cc, Dc); % Controller Reduction Kr4 = spaconred (P, K, 4, 'feedback', '-') Kr2 = spaconred (P, K, 2, 'feedback', '-') % Open Loop L = P * K; Lr4 = P * Kr4; Lr2 = P * Kr2; % Closed Loop T = feedback (L); Tr4 = feedback (Lr4); Tr2 = feedback (Lr2); % Frequency Range w = {1e-2, 1e1}; % Bode Plot of Controller figure (1) bode (K, Kr4, Kr2, w) legend ('K (8 states)', 'Kr (4 states)', 'Kr (2 states)', 'Location', 'SouthWest') % Step Response of Closed Loop figure (2) step (T, Tr4, Tr2, 100) legend ('K (8 states)', 'Kr (4 states)', 'Kr (2 states)', 'Location', 'SouthEast') control-3.2.0/inst/PaxHeaders.3947/margin.m0000644000000000000000000000013213450727360015276 xustar0030 mtime=1554231024.549427105 30 atime=1554231024.545426952 30 ctime=1554231028.529576204 control-3.2.0/inst/margin.m0000644000175000017500000003071113450727360015541 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{gamma}, @var{phi}, @var{w_gamma}, @var{w_phi}] =} margin (@var{sys}) ## @deftypefnx{Function File} {[@var{gamma}, @var{phi}, @var{w_gamma}, @var{w_phi}] =} margin (@var{sys}, @var{tol}) ## Gain and phase margin of a system. ## If no output arguments are given, both gain and phase margin are plotted on a bode diagram. ## Otherwise, the margins and their corresponding frequencies are computed and returned. ## A more robust criterion to assess the stability of a feedback system is the sensitivity Ms ## computed by function @command{sensitivity}. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. Must be a single-input and single-output (SISO) system. ## @item tol ## Imaginary parts below @var{tol} are assumed to be zero. ## If not specified, default value @code{sqrt (eps)} is taken. ## @end table ## ## @strong{Outputs} ## @table @var ## @item gamma ## Gain margin (as gain, not dBs). ## @item phi ## Phase margin (in degrees). ## @item w_gamma ## Frequency for the gain margin (in rad/s). ## @item w_phi ## Frequency for the phase margin (in rad/s). ## @end table ## ## @strong{Algorithm}@* ## Uses function @command{roots} to calculate the frequencies ## @var{w_gamma}, @var{w_phi} from special polynomials created ## from the transfer function of @var{sys} as listed below ## in section @guillemetleft{}Equations@guillemetright{}. ## ## @strong{Equations} ## @example ## @group ## CONTINUOUS-TIME SYSTEMS ## Gain Margin ## _ _ ## L(jw) = L(jw) BTW: L(jw) = L(-jw) = conj (L(jw)) ## ## num(jw) num(-jw) ## ------- = -------- ## den(jw) den(-jw) ## ## num(jw) den(-jw) = num(-jw) den(jw) ## ## imag (num(jw) den(-jw)) = 0 ## imag (num(-jw) den(jw)) = 0 ## @end group ## @end example ## @example ## @group ## Phase Margin ## |num(jw)| ## |L(jw)| = |-------| = 1 ## |den(jw)| ## _ 2 2 ## z z = Re z + Im z ## ## num(jw) num(-jw) ## ------- * -------- = 1 ## den(jw) den(-jw) ## ## num(jw) num(-jw) - den(jw) den(-jw) = 0 ## ## real (num(jw) num(-jw) - den(jw) den(-jw)) = 0 ## @end group ## @end example ## @example ## @group ## DISCRETE-TIME SYSTEMS ## Gain Margin ## jwT log z ## L(z) = L(1/z) BTW: z = e --> w = ----- ## j T ## num(z) num(1/z) ## ------ = -------- ## den(z) den(1/z) ## ## num(z) den(1/z) - num(1/z) den(z) = 0 ## @end group ## @end example ## @example ## @group ## Phase Margin ## |num(z)| ## |L(z)| = |------| = 1 ## |den(z)| ## @end group ## @end example ## @example ## @group ## L(z) L(1/z) = 1 ## ## num(z) num(1/z) ## ------ * -------- = 1 ## den(z) den(1/z) ## ## num(z) num(1/z) - den(z) den(1/z) = 0 ## @end group ## @end example ## @example ## @group ## PS: How to get L(1/z) ## 4 3 2 ## p(z) = a z + b z + c z + d z + e ## ## -4 -3 -2 -1 ## p(1/z) = a z + b z + c z + d z + e ## ## -4 2 3 4 ## = z ( a + b z + c z + d z + e z ) ## ## 4 3 2 4 ## = ( e z + d z + c z + b z + a ) / ( z ) ## @end group ## @end example ## ## @seealso{sensitivity, roots} ## @end deftypefn ## Author: Lukas Reichlin ## Created: July 2009 ## Version: 0.9.2 function [gamma_r, phi_r, w_gamma_r, w_phi_r] = margin (sys, tol = sqrt (eps)) ## TODO: multiplot feature: margin (sys1, "b", sys2, "r", ...) ## check whether arguments are OK if (nargin < 1 || nargin > 2) print_usage (); endif if (! isa (sys, "lti")) error ("margin: argument sys must be an LTI system"); endif if (! issiso (sys)) error ("margin: argument sys must be a SISO system"); endif ## get transfer function [num, den, tsam] = tfdata (sys, "vector"); continuous = isct (sys); tsam = abs (tsam); # use 1 second as default if tsam == -1 if (continuous) # CONTINUOUS-TIME SYSTEM ## create polynomials s -> jw l_num = length (num); l_den = length (den); num_jw = num .* i.^(l_num-1 : -1 : 0); den_jw = den .* i.^(l_den-1 : -1 : 0); ## GAIN MARGIN ## create gm polynomial gm_poly = imag (conv (num_jw, conj (den_jw))); ## find frequencies w w = roots (gm_poly); ## filter results [gamma, w_gamma] = gm_filter (w, num, den, tsam, tol, continuous); ## PHASE MARGIN ## create pm polynomials poly_1 = conv (num_jw, conj (num_jw)); poly_2 = conv (den_jw, conj (den_jw)); ## make polynomials equally long for subtraction [poly_1, poly_2] = poly_equalizer (poly_1, poly_2); ## subtract polynomials pm_poly = real (poly_1 - poly_2); ## find frequencies w w = roots (pm_poly); ## filter results [phi, w_phi] = pm_filter (w, num, den, tsam, tol, continuous); else # DISCRETE-TIME SYSTEM ## create polynomials z -> 1/z l_num = length (num); l_den = length (den); num_rev = fliplr (num); den_rev = fliplr (den); num_div = zeros (1, l_num); den_div = zeros (1, l_den); num_div(1) = 1; den_div(1) = 1; num_inv = conv (num_rev, den_div); den_inv = conv (den_rev, num_div); ## GAIN MARGIN ## create gm polynomial poly_1 = conv (num, den_inv); poly_2 = conv (num_inv, den); ## make polynomials equally long for subtraction [poly_1, poly_2] = poly_equalizer (poly_1, poly_2); ## subtract polynomials gm_poly = poly_1 - poly_2; ## find frequencies z z = roots (gm_poly); ## filter results idx = find (abs (abs (z) - 1) < tol); # find z with magnitude 1 if (length (idx) > 0) # if z with magnitude 1 exist z_gm = z(idx); w = log (z_gm) / (i*tsam); # get frequencies w from z [gamma, w_gamma] = gm_filter (w, num, den, tsam, tol, continuous); else # there are no z with magnitude 1 gamma = Inf; w_gamma = NaN; endif ## PHASE MARGIN ## create pm polynomials poly_1 = conv (num, num_inv); poly_2 = conv (den, den_inv); ## make polynomials equally long for subtraction [poly_1, poly_2] = poly_equalizer (poly_1, poly_2); ## subtract polynomials pm_poly = poly_1 - poly_2; ## find frequencies z z = roots (pm_poly); ## filter results idx = find (abs (abs (z) - 1) < tol); # find z with magnitude 1 if (length (idx) > 0) # if z with magnitude 1 exist z_gm = z(idx); w = log (z_gm) / (i*tsam); # get frequencies w from z [phi, w_phi] = pm_filter (w, num, den, tsam, tol, continuous); else # there are no z with magnitude 1 phi = 180; w_phi = NaN; endif endif if (nargout == 0) # show bode diagram [H, w] = __frequency_response__ ("margin", {sys}); H = H{1}; w = w{1}; H = reshape (H, [], 1); mag_db = 20 * log10 (abs (H)); pha = unwrap (arg (H)) * 180 / pi; gamma_db = 20 * log10 (gamma); wv = [min(w), max(w)]; ax_vec_mag = __axis_limits__ ([w(:), mag_db(:)]); ax_vec_mag(1:2) = wv; ax_vec_pha = __axis_limits__ ([w(:), pha(:)]); ax_vec_pha(1:2) = wv; wgm = [w_gamma, w_gamma]; mgmh = [-gamma_db, ax_vec_mag(3)]; mgm = [0, -gamma_db]; pgm = [ax_vec_pha(4), -180]; wpm = [w_phi, w_phi]; mpm = [0, ax_vec_mag(3)]; ppmh = [ax_vec_pha(4), phi - 180]; ppm = [phi - 180, -180]; title_str = sprintf ("GM = %g dB (at %g rad/s), PM = %g deg (at %g rad/s)", gamma_db, w_gamma, phi, w_phi); if (continuous) xl_str = "Frequency [rad/s]"; else xl_str = sprintf ("Frequency [rad/s] w_N = %g", pi/tsam); endif subplot (2, 1, 1) semilogx (w, mag_db, "b", wv, [0, 0], "-.k", wgm, mgmh, "-.k", wgm, mgm, "r", wpm, mpm, "-.k") axis (ax_vec_mag) grid ("on") title (title_str) ylabel ("Magnitude [dB]") subplot (2, 1, 2) semilogx (w, pha, "b", wv, [-180, -180], "-.k", wgm, pgm, "-.k", wpm, ppmh, "-.k", wpm, ppm, "r") axis (ax_vec_pha) grid ("on") xlabel (xl_str) ylabel ("Phase [deg]") else # return values gamma_r = gamma; phi_r = phi; w_gamma_r = w_gamma; w_phi_r = w_phi; endif endfunction function [poly_eq_1, poly_eq_2] = poly_equalizer (poly_1, poly_2) l_p1 = length (poly_1); l_p2 = length (poly_2); l_max = max (l_p1, l_p2); lead_zer_1 = zeros (1, l_max - l_p1); lead_zer_2 = zeros (1, l_max - l_p2); poly_eq_1 = horzcat (lead_zer_1, poly_1); poly_eq_2 = horzcat (lead_zer_2, poly_2); endfunction function [gamma, w_gamma] = gm_filter (w, num, den, tsam, tol, continuous) idx = find ((abs (imag (w)) < tol) & (real (w) > 0)); # find frequencies in R+ if (length (idx) > 0) # if frequencies in R+ exist w_gm = real (w(idx)); if (continuous) s = i * w_gm; else s = exp (i * w_gm * tsam); endif f_resp = polyval (num, s) ./ polyval (den, s); gm = (abs (f_resp)).^-1; ## find crossings between 0 and -1 idx = find ((real (f_resp) < 0) & (real (f_resp) >= -1)); if (length (idx) > 0) # if crossings between 0 and -1 exist gm = gm(idx); w_gm = w_gm(idx); [gamma, idx] = min (gm); w_gamma = w_gm(idx); else # there are no crossings between 0 and -1 idx = find (real (f_resp) < -1); # find crossings between -1 and -Inf if (length (idx) > 0) # if crossings between -1 and -Inf exist gm = gm(idx); w_gm = w_gm(idx); [gamma, idx] = max (gm); w_gamma = w_gm(idx); else gamma = Inf; w_gamma = NaN; endif endif else # there are no frequencies in R+ gamma = Inf; w_gamma = NaN; endif endfunction function [phi, w_phi] = pm_filter (w, num, den, tsam, tol, continuous) idx = find ((abs (imag (w)) < tol) & (real (w) > 0)); # find frequencies in R+ if (length (idx) > 0) # if frequencies in R+ exist w_pm = real (w(idx)); if (continuous) s = i * w_pm; else s = exp (i * w_pm * tsam); endif f_resp = polyval (num, s) ./ polyval (den, s); pm = 180 + arg (f_resp) ./ pi .* 180; [phi, idx] = min (pm); w_phi = w_pm(idx); else # there are no frequencies in R+ phi = 180; w_phi = NaN; endif endfunction %!shared margin_c, margin_c_exp, margin_d, margin_d_exp %! sysc = tf ([24], [1, 6, 11, 6]); %! [gamma_c, phi_c, w_gamma_c, w_phi_c] = margin (sysc); %! sysd = c2d (sysc, 0.3); %! [gamma_d, phi_d, w_gamma_d, w_phi_d] = margin (sysd); %! %! margin_c = [gamma_c, phi_c, w_gamma_c, w_phi_c]; %! margin_d = [gamma_d, phi_d, w_gamma_d, w_phi_d]; %! %! ## results from this implementation and the "dark side" diverge %! ## from the third digit after the decimal point on %! %! gamma_c_exp = 2.50; %! phi_c_exp = 35.43; %! w_gamma_c_exp = 3.32; %! w_phi_c_exp = 2.06; %! %! gamma_d_exp = 1.41; %! phi_d_exp = 18.60; %! w_gamma_d_exp = 2.48; %! w_phi_d_exp = 2.04; %! %! margin_c_exp = [gamma_c_exp, phi_c_exp, w_gamma_c_exp, w_phi_c_exp]; %! margin_d_exp = [gamma_d_exp, phi_d_exp, w_gamma_d_exp, w_phi_d_exp]; %! %!assert (margin_c, margin_c_exp, 1e-2); %!assert (margin_d, margin_d_exp, 1e-2); control-3.2.0/inst/PaxHeaders.3947/options.m0000644000000000000000000000013213450727360015514 xustar0030 mtime=1554231024.569427868 30 atime=1554231024.569427868 30 ctime=1554231028.529576204 control-3.2.0/inst/options.m0000644000175000017500000000445513450727360015765 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {@var{opt} =} options (@var{'key1'}, @var{value1}, @var{'key2'}, @var{value2}, @dots{}) ## Create options struct @var{opt} from a number of key and value pairs. ## For use with order reduction and system identification functions. ## Option structs are a way to avoid typing the same key and value pairs ## over and over again. ## ## @strong{Inputs} ## @table @var ## @item key, property ## The name of the property. ## @item value ## The value of the property. ## @end table ## ## @strong{Outputs} ## @table @var ## @item opt ## Struct with fields for each key. ## @end table ## ## @strong{Example} ## @example ## @group ## octave:1> opt = options ("method", "spa", "tol", 1e-6) ## opt = ## ## scalar structure containing the fields: ## ## method = spa ## tol = 1.0000e-06 ## ## @end group ## @end example ## @example ## @group ## octave:2> save filename opt ## octave:3> # save the struct 'opt' to file 'filename' for later use ## octave:4> load filename ## octave:5> # load struct 'opt' from file 'filename' ## @end group ## @end example ## ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2011 ## Version: 0.1 function opt = options (varargin) if (nargin == 0) print_usage (); endif if (rem (nargin, 2)) error ("options: properties and values must come in pairs"); endif ## alternative: opt = struct (varargin{:}); key = reshape (varargin(1:2:end-1), [], 1); val = reshape (varargin(2:2:end), [], 1); opt = cell2struct (val, key, 1); opt = orderfields (opt); endfunction control-3.2.0/inst/PaxHeaders.3947/rlocus.m0000644000000000000000000000013213450727360015330 xustar0030 mtime=1554231024.581428326 30 atime=1554231024.581428326 30 ctime=1554231028.529576204 control-3.2.0/inst/rlocus.m0000644000175000017500000002447513450727360015605 0ustar00olafolaf00000000000000## Copyright (C) 1996, 2000, 2004, 2005, 2006, 2007 ## Auburn University. All rights reserved. ## ## ## This program is free software; you can redistribute it and/or modify it ## under the terms of the GNU General Public License as published by ## the Free Software Foundation; either version 3 of the License, or (at ## your option) any later version. ## ## This program is distributed in the hope that it will be useful, but ## WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU ## General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program; see the file COPYING. If not, see ## . ## -*- texinfo -*- ## @deftypefn {Function File} {} rlocus (@var{sys}) ## @deftypefnx {Function File} {[@var{rldata}, @var{k}] =} rlocus (@var{sys}, @var{increment}, @var{min_k}, @var{max_k}) ## Display root locus plot of the specified @acronym{SISO} system. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. Must be a single-input and single-output (SISO) system. ## @item increment ## The increment used in computing gain values. ## @item min_k ## Minimum value of @var{k}. ## @item max_k ## Maximum value of @var{k}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item rldata ## Data points plotted: in column 1 real values, in column 2 the imaginary values. ## @item k ## Gains for real axis break points. ## @end table ## ## @strong{Block Diagram} ## @example ## @group ## u + +---+ +------+ y ## ------>(+)----->| k |----->| SISO |-------+-------> ## ^ - +---+ +------+ | ## | | ## +---------------------------------+ ## @end group ## @end example ## @end deftypefn ## Author: David Clem ## Author: R. Bruce Tenison ## Updated by Kristi McGowan July 1996 for intelligent gain selection ## Updated by John Ingram July 1996 for systems ## Adapted-By: Lukas Reichlin ## Date: December 2009 ## Version: 0.6 function [rldata_r, k_break, rlpol, gvec, real_ax_pts] = rlocus (sys, increment, min_k, max_k) ## TODO: improve compatibility to the "dark side" ## TODO: untangle spaghetti code ## TODO: multiplot feature: rlocus (sys1, "b", sys2, "r", ...) if (nargin < 1 || nargin > 4) print_usage (); endif if (! isa (sys, "lti") || ! issiso (sys)) error ("rlocus: first argument must be a SISO LTI model"); endif ## Convert the input to a transfer function if necessary [num, den] = tfdata (sys, "vector"); # extract numerator/denominator polynomials lnum = length (num); lden = length (den); ## equalize length of num, den polynomials ## TODO: handle case lnum > lden (non-proper models) if (lden < 2) error ("rlocus: system has no poles"); elseif (lnum < lden) num = [zeros(1,lden-lnum), num]; # so that derivative is shortened by one endif olpol = roots (den); olzer = roots (num); nas = lden - lnum; # number of asymptotes maxk = 0; if (nas > 0) cas = (sum (olpol) - sum (olzer)) / nas; angles = (2*[1:nas]-1)*pi/nas; ## printf("rlocus: there are %d asymptotes centered at %f\n", nas, cas); else cas = angles = []; maxk = 100*den(1)/num(1); endif ## compute real axis break points and corresponding gains dnum = polyder (num); dden = polyder (den); brkp = conv (den, dnum) - conv (num, dden); real_ax_pts = roots (brkp); real_ax_pts = real_ax_pts(find (imag (real_ax_pts) == 0)); real_ax_pts(polyval (num, real_ax_pts) == 0) = []; # avoid division by zero and therefore infinite k_break k_break = -polyval (den, real_ax_pts) ./ polyval (num, real_ax_pts); idx = find (k_break >= 0); k_break = k_break(idx); real_ax_pts = real_ax_pts(idx); if (! isempty (k_break)) maxk = max (max (k_break), maxk); endif if (nas == 0) maxk = max (1, 2*maxk); # get at least some root locus else ## get distance from breakpoints, poles, and zeros to center of asymptotes dmax = 3*max (abs ([vec(olzer); vec(olpol); vec(real_ax_pts)] - cas)); if (dmax == 0) dmax = 1; endif ## get gain for dmax along each asymptote, adjust maxk if necessary svals = cas + dmax * exp (j*angles); kvals = -polyval (den, svals) ./ polyval (num, svals); maxk = max (maxk, max (real (kvals))); endif ## check for input arguments: if (nargin > 2) mink = min_k; else mink = 0; endif if (nargin > 3) maxk = max_k; endif if (nargin > 1) if (increment <= 0) error ("rlocus: increment must be positive"); else ngain = fix ((maxk-mink)/increment); endif else ngain = 30; endif ## vector of gains ngain = max (30, ngain); gvec = linspace (mink, maxk, ngain); if (length (k_break)) gvec = sort ([gvec, reshape(k_break, 1, [])]); endif ## Find the open loop zeros and the initial poles rlzer = roots (num); ## update num to be the same length as den lnum = length (num); if (lnum < lden) num = [zeros(1,lden - lnum),num]; endif ## compute preliminary pole sets nroots = lden - 1; for ii = 1:ngain gain = gvec(ii); rlpol(1:nroots,ii) = vec(sort_complex_roots (roots (den + gain*num))); endfor ## set smoothing tolerance smtolx = 0.01*(max (max (real (rlpol))) - min (min (real (rlpol)))); smtoly = 0.01*(max (max (imag (rlpol))) - min (min (imag (rlpol)))); smtol = max (smtolx, smtoly); ## sort according to nearest-neighbor rlpol = sort_roots (rlpol, smtolx, smtoly); done = (nargin == 4); # perform a smoothness check while (! done && ngain < 1000) done = 1 ; # assume done dp = abs (diff (rlpol.')).'; maxdp = max (dp); ## search for poles whose neighbors are distant if (lden == 2) idx = find (dp > smtol); else idx = find (maxdp > smtol); endif for ii = 1:length(idx) i1 = idx(ii); g1 = gvec(i1); p1 = rlpol(:,i1); i2 = idx(ii)+1; g2 = gvec(i2); p2 = rlpol(:,i2); ## isolate poles in p1, p2 if (max (abs (p2-p1)) > smtol) newg = linspace (g1, g2, 5); newg = newg(2:4); gvec = [gvec,newg]; done = 0; # need to process new gains endif endfor ## process new gain values ngain1 = length (gvec); for ii = (ngain+1):ngain1 gain = gvec(ii); rlpol(1:nroots,ii) = vec(sort_complex_roots (roots (den + gain*num))); endfor [gvec, idx] = sort (gvec); rlpol = rlpol(:,idx); ngain = length (gvec); ## sort according to nearest-neighbor rlpol = sort_roots (rlpol, smtolx, smtoly); endwhile rldata = rlpol; ## Plot the data if (nargout == 0) rlpolv = vec(rlpol); axdata = [real(rlpolv), imag(rlpolv); real(olzer), imag(olzer)]; axlim = __axis_limits__ (axdata); rldata = [real(rlpolv), imag(rlpolv) ]; %inname = get (sys, "inname"); %outname = get (sys, "outname"); ## build plot command args pole by pole n_rlpol = rows (rlpol); nelts = n_rlpol+1; if (! isempty (rlzer)) nelts++; endif ## add asymptotes n_A = length (olpol) - length (olzer); if (n_A > 0) nelts += n_A; endif args = cell (3, nelts); kk = 0; ## asymptotes first if (n_A > 0) len_A = 2*max (abs (axlim)); sigma_A = (sum(olpol) - sum(olzer))/n_A; for i_A=0:n_A-1 phi_A = pi*(2*i_A + 1)/n_A; args{1,++kk} = [sigma_A sigma_A+len_A*cos(phi_A)]; args{2,kk} = [0 len_A*sin(phi_A)]; if (i_A == 1) args{3,kk} = "k--;asymptotes;"; else args{3,kk} = "k--"; endif endfor endif ## locus next for ii = 1:rows(rlpol) args{1,++kk} = real (rlpol (ii,:)); args{2,kk} = imag (rlpol (ii,:)); if (ii == 1) args{3,kk} = "b-;locus;"; else args{3,kk} = "b-"; endif endfor ## poles and zeros last args{1,++kk} = real (olpol); args{2,kk} = imag (olpol); args{3,kk} = "rx;open loop poles;"; if (! isempty (rlzer)) args{1,++kk} = real (rlzer); args{2,kk} = imag (rlzer); args{3,kk} = "go;zeros;"; endif hplt = plot (args{:}); set (hplt(kk--), "markersize", 2); if (! isempty (rlzer)) set (hplt(kk--), "markersize", 2); endif for ii = 1:rows(rlpol) set (hplt(kk--), "linewidth", 2); endfor legend ("boxon"); grid ("on"); axis (axlim); title (["Root Locus of ", inputname(1)]); xlabel (sprintf ("Real Axis gain = [%g, %g]", gvec(1), gvec(ngain))); ylabel ("Imaginary Axis"); set (gcf (), "visible", "on"); else rldata_r = rldata; endif endfunction function rlpol = sort_roots (rlpol, tolx, toly) ## no point sorting of you've only got one pole! if (rows (rlpol) == 1) return; endif ## reorder entries in each column of rlpol to be by their nearest-neighbors rlpol dp = diff (rlpol.').'; drp = max (real (dp)); dip = max (imag (dp)); idx = find (drp > tolx | dip > toly); if (isempty (idx)) return; endif [np, ng] = size (rlpol); # num poles, num gains for jj = idx vals = rlpol(:,[jj,jj+1]); jdx = (jj+1):ng; for ii = 1:rows(rlpol-1) rdx = ii:np; dval = abs (rlpol(rdx,jj+1)-rlpol(ii,jj)); mindist = min (dval); sidx = min (find (dval == mindist)) + ii - 1; if (sidx != ii) c1 = norm (diff(vals.')); [vals(ii,2), vals(sidx,2)] = swap (vals(ii,2), vals(sidx,2)); c2 = norm (diff (vals.')); if (c1 > c2) ## perform the swap [rlpol(ii,jdx), rlpol(sidx,jdx)] = swap (rlpol(ii,jdx), rlpol(sidx,jdx)); vals = rlpol(:,[jj,jj+1]); endif endif endfor endfor endfunction function [b, a] = swap (a, b) endfunction function c = sort_complex_roots (c) ## This function sorts complex numbers such that ## 1) All the pure reals come first and are sorted. ## 2) All complex numbers are sorted by the regular sort. c = vec (c); idx = (imag (c) == 0); cre = sort (c(idx)); cim = sort (c(! idx)); c = vertcat (cre, cim); endfunction %!demo %! s = tf('s'); %! g = (s^2+2*s+2)/(s*(s^4+9*s^3+33*s^2+51*s+26)); %! rlocus(g); control-3.2.0/inst/PaxHeaders.3947/__frd_dim__.m0000644000000000000000000000013213450727360016221 xustar0030 mtime=1554231024.349419469 30 atime=1554231024.349419469 30 ctime=1554231028.529576204 control-3.2.0/inst/__frd_dim__.m0000644000175000017500000000304513450727360016464 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Number of outputs and inputs of transfer function numerator and ## denominator. For internal use only. ## Author: Lukas Reichlin ## Created: February 2010 ## Version: 0.2 function [p, m, l] = __frd_dim__ (H, w) if (! isnumeric (H)) error ("frd: argument 'H' must be a 3-dimensional numeric array"); endif lw = length (w); if (! isempty (w) && (! is_real_vector (w) || any (w < 0) ... || ! issorted (w) || w(1) > w(end) ... || length (unique (w)) != lw)) error ("frd: argument 'w' must be a vector of positive real numbers in ascending order"); endif [p, m, l] = size (H); if (l != lw) error ("frd: arguments 'H' (%dx%dx%d) and 'w' (%d) must have equal length", p, m, l, lw); endif endfunction control-3.2.0/inst/PaxHeaders.3947/fwcfconred.m0000644000000000000000000000013213450727360016141 xustar0030 mtime=1554231024.485424661 30 atime=1554231024.485424661 30 ctime=1554231028.529576204 control-3.2.0/inst/fwcfconred.m0000644000175000017500000002354613450727360016414 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{G}, @var{F}, @var{L}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{G}, @var{F}, @var{L}, @var{ncr}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{G}, @var{F}, @var{L}, @var{opt}, @dots{}) ## @deftypefnx{Function File} {[@var{Kr}, @var{info}] =} fwcfconred (@var{G}, @var{F}, @var{L}, @var{ncr}, @var{opt}, @dots{}) ## ## Reduction of state-feedback-observer based controller by frequency-weighted coprime factorization (FW CF). ## Given a plant @var{G}, state feedback gain @var{F} and full observer gain @var{L}, ## determine a reduced order controller @var{Kr} by using stability enforcing frequency weights. ## ## @strong{Inputs} ## @table @var ## @item G ## @acronym{LTI} model of the open-loop plant (A,B,C,D). ## It has m inputs, p outputs and n states. ## @item F ## Stabilizing state feedback matrix (m-by-n). ## @item L ## Stabilizing observer gain matrix (n-by-p). ## @item ncr ## The desired order of the resulting reduced order controller @var{Kr}. ## If not specified, @var{ncr} is chosen automatically according ## to the description of key @var{'order'}. ## @item @dots{} ## Optional pairs of keys and values. @code{"key1", value1, "key2", value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item Kr ## State-space model of reduced order controller. ## @item info ## Struct containing additional information. ## @table @var ## @item info.hsv ## The Hankel singular values of the extended system?!?. ## The @var{n} Hankel singular values are ordered decreasingly. ## @item info.ncr ## The order of the obtained reduced order controller @var{Kr}. ## @end table ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'order', 'ncr' ## The desired order of the resulting reduced order controller @var{Kr}. ## If not specified, @var{ncr} is chosen automatically such that states with ## Hankel singular values @var{info.hsv} > @var{tol1} are retained. ## ## @item 'method' ## Order reduction approach to be used as follows: ## @table @var ## @item 'sr', 'b' ## Use the square-root Balance & Truncate method. ## @item 'bfsr', 'f' ## Use the balancing-free square-root Balance & Truncate method. Default method. ## @end table ## ## @item 'cf' ## Specifies whether left or right coprime factorization is ## to be used as follows: ## @table @var ## @item 'left', 'l' ## Use left coprime factorization. ## @item 'right', 'r' ## Use right coprime factorization. Default method. ## @end table ## ## @item 'feedback' ## Specifies whether @var{F} and @var{L} are fed back positively or negatively: ## @table @var ## @item '+' ## A+BK and A+LC are both Hurwitz matrices. ## @item '-' ## A-BK and A-LC are both Hurwitz matrices. Default value. ## @end table ## ## @item 'tol1' ## If @var{'order'} is not specified, @var{tol1} contains the tolerance for ## determining the order of the reduced system. ## For model reduction, the recommended value of @var{tol1} is ## c*info.hsv(1), where c lies in the interval [0.00001, 0.001]. ## Default value is n*eps*info.hsv(1). ## If @var{'order'} is specified, the value of @var{tol1} is ignored. ## @end table ## ## @strong{Algorithm}@* ## Uses SLICOT SB16CD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Author: Lukas Reichlin ## Created: December 2011 ## Version: 0.1 function [Kr, info] = fwcfconred (G, F, L, varargin) if (nargin < 3) print_usage (); endif if (! isa (G, "lti")) error ("fwcfconred: first argument must be an LTI system"); endif if (! is_real_matrix (F)) error ("fwcfconred: second argument must be a real matrix"); endif if (! is_real_matrix (L)) error ("fwcfconred: third argument must be a real matrix"); endif if (nargin > 3) # fwcfconred (G, F, L, ...) if (is_real_scalar (varargin{1})) # fwcfconred (G, F, L, nr) varargin = horzcat (varargin(2:end), {"order"}, varargin(1)); endif if (isstruct (varargin{1})) # fwcfconred (G, F, L, opt, ...), fwcfconred (G, F, L, nr, opt, ...) varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end)); endif ## order placed at the end such that nr from fwcfconred (G, F, L, nr, ...) ## and fwcfconred (G, F, L, nr, opt, ...) overrides possible nr's from ## key/value-pairs and inside opt struct (later keys override former keys, ## nr > key/value > opt) endif nkv = numel (varargin); # number of keys and values if (rem (nkv, 2)) error ("fwcfconred: keys and values must come in pairs"); endif [a, b, c, d, tsam] = ssdata (G); [p, m] = size (G); n = rows (a); [mf, nf] = size (F); [nl, pl] = size (L); dt = isdt (G); jobd = any (d(:)); if (mf != m || nf != n) error ("fwcfconred: dimensions of state-feedback matrix (%dx%d) and plant (%dx%d, %d states) don't match", ... mf, nf, p, m, n); endif if (nl != n || pl != p) error ("fwcfconred: dimensions of observer matrix (%dx%d) and plant (%dx%d, %d states) don't match", ... nl, pl, p, m, n); endif ## default arguments tol1 = 0.0; jobcf = 1; jobmr = 1; # balancing-free BTA ordsel = 1; ncr = 0; negfb = true; # A-BK, A-LC Hurwitz ## handle keys and values for k = 1 : 2 : nkv key = lower (varargin{k}); val = varargin{k+1}; switch (key) case {"order", "ncr", "nr"} [ncr, ordsel] = __modred_check_order__ (val, n); case {"tol1", "tol"} tol1 = __modred_check_tol__ (val, "tol1"); case "cf" switch (lower (val(1))) case "l" jobcf = 0; case "r" jobcf = 1; otherwise error ("cfconred: '%s' is an invalid coprime factorization", val); endswitch case "method" # approximation method switch (tolower (val)) case {"sr-bta", "b", "sr"} # 'B': use the square-root Balance & Truncate method jobmr = 0; case {"bfsr-bta", "f", "bfsr"} # 'F': use the balancing-free square-root Balance & Truncate method jobmr = 1; otherwise error ("cfconred: '%s' is an invalid approach", val); endswitch case "feedback" negfb = __conred_check_feedback_sign__ (val); otherwise warning ("fwcfconred: invalid property name '%s' ignored", key); endswitch endfor ## A - B*F --> A + B*F ; A - L*C --> A + L*C if (negfb) F = -F; L = -L; endif ## perform model order reduction [acr, bcr, ccr, ncr, hsv] = __sl_sb16cd__ (a, b, c, d, dt, ncr, ordsel, jobd, jobmr, ... F, L, jobcf, tol1); ## assemble reduced order controller Kr = ss (acr, bcr, ccr, [], tsam); ## assemble info struct info = struct ("ncr", ncr, "hsv", hsv); endfunction %!shared Mo, Me, Info, HSVe %! A = [ 0 1.0000 0 0 0 0 0 0 %! 0 0 0 0 0 0 0 0 %! 0 0 -0.0150 0.7650 0 0 0 0 %! 0 0 -0.7650 -0.0150 0 0 0 0 %! 0 0 0 0 -0.0280 1.4100 0 0 %! 0 0 0 0 -1.4100 -0.0280 0 0 %! 0 0 0 0 0 0 -0.0400 1.850 %! 0 0 0 0 0 0 -1.8500 -0.040 ]; %! %! B = [ 0.0260 %! -0.2510 %! 0.0330 %! -0.8860 %! -4.0170 %! 0.1450 %! 3.6040 %! 0.2800 ]; %! %! C = [ -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026 ]; %! %! D = [ 0.0 ]; %! %! G = ss (A, B, C, D); % "scaled", false %! %! F = [ 4.472135954999638e-002 6.610515358414598e-001 4.698598960657579e-003 3.601363251422058e-001 1.032530880771415e-001 -3.754055214487997e-002 -4.268536964759344e-002 3.287284547842979e-002 ]; %! %! L = [ 4.108939884667451e-001 %! 8.684600000000012e-002 %! 3.852317308197148e-004 %! -3.619366874815911e-003 %! -8.803722876359955e-003 %! 8.420521094001852e-003 %! 1.234944428038507e-003 %! 4.263205617645322e-003 ]; %! %! [Kr, Info] = fwcfconred (G, F, L, 2, "method", "bfsr", "cf", "right", "feedback", "+"); %! [Ao, Bo, Co, Do] = ssdata (Kr); %! %! Ae = [ -0.4334 0.4884 %! -0.1950 -0.1093 ]; %! %! Be = [ -0.4231 %! -0.1785 ]; %! %! Ce = [ -0.0326 -0.2307 ]; %! %! De = [ 0.0000 ]; %! %! HSVe = [ 3.3073 0.7274 0.1124 0.0784 0.0242 0.0182 0.0101 0.0094 ].'; %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [Ae, Be; Ce, De]; %! %!assert (Mo, Me, 1e-4); %!assert (Info.hsv, HSVe, 1e-4); control-3.2.0/inst/PaxHeaders.3947/__frequency_response__.m0000644000000000000000000000013213450727360020534 xustar0030 mtime=1554231024.349419469 30 atime=1554231024.349419469 30 ctime=1554231028.529576204 control-3.2.0/inst/__frequency_response__.m0000644000175000017500000001104013450727360020771 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Return frequency response H and frequency vector w. ## If w is empty, it will be calculated by __frequency_vector__. ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 0.7 function [H, w, sty, leg] = __frequency_response__ (caller, args, nout = 0) ## CALLER | MIMO | RANGE | CELL | ## ---------------+-------+-------+-------+ ## bode | false | std | false | ## bodemag | false | std | false | ## margin | false | std | false | ## nichols | false | ext | false | ## nyquist | false | ext | false | ## sensitivity | false | ext | false | ## sigma | true | std | true | mimoflag = false; cellflag = false; wbounds = "std"; if (strcmp (caller, {"sigma"})) mimoflag = true; cellflag = true; endif if (any (strcmp (caller, {"nyquist", "nichols", "sensitivity"}))) wbounds = "ext"; endif sys_idx = cellfun (@isa, args, {"lti"}); # look for LTI models frd_idx = cellfun (@isa, args, {"frd"}); # look for FRD models w_idx = cellfun (@is_real_vector, args); # look for frequency vectors r_idx = cellfun (@iscell, args); # look for frequency ranges {wmin, wmax} s_idx = cellfun (@ischar, args); # look for strings (style arguments) inv_idx = ! (sys_idx | w_idx | r_idx | s_idx); # look for invalid arguments if (any (inv_idx)) warning ("%s: argument(s) number %s are invalid and are being ignored", ... caller, mat2str (find (inv_idx)(:).')); endif if (nnz (sys_idx) == 0) error ("%s: require at least one LTI model", caller); endif if (nout > 0 && (nnz (sys_idx) > 1 || any (s_idx))) evalin ("caller", "print_usage ()"); endif if (! mimoflag && ! all (cellfun (@issiso, args(sys_idx)))) error ("%s: require SISO systems", caller); endif if (any (find (s_idx) < find (sys_idx)(1))) warning ("%s: strings in front of first LTI model are being ignored", caller); endif ## determine frequency vectors if (any (r_idx)) # if there are frequency ranges if (nnz (r_idx) > 1) warning ("%s: several frequency ranges specified, taking the last one", caller); endif r = args(r_idx){end}; if (numel (r) == 2 && issample (r{1}) && issample (r{2}) && r{1} < r{2}) w = __frequency_vector__ (args(sys_idx), wbounds, r{1}, r{2}); else error ("%s: the cell defining the desired frequency range is invalid", caller); endif elseif (any (w_idx)) # are there any frequency vectors? if (nnz (r_idx) > 1) warning ("%s: several frequency vectors specified, taking the last one", caller); endif w = args(w_idx){end}; w = repmat ({w}, 1, nnz (sys_idx)); else # there are neither frequency ranges nor vectors w = __frequency_vector__ (args(sys_idx), wbounds); endif ## temporarily save frequency vectors of FRD models w_frd = cellfun (@(x) get (x, "w"), args(frd_idx), "uniformoutput", false); w(frd_idx) = {[]}; # freqresp returns all frequencies of FRD models for w=[] ## compute frequency response H for all LTI models H = cellfun (@__freqresp__, args(sys_idx), w, {cellflag}, "uniformoutput", false); ## restore frequency vectors of FRD models in w w(frd_idx) = w_frd; ## extract plotting styles tmp = cumsum (sys_idx); tmp(sys_idx | ! s_idx) = 0; n = nnz (sys_idx); sty = arrayfun (@(x) args(tmp == x), 1:n, "uniformoutput", false); ## get system names for legend ## "''" needed for bode (lticell{:}) leg = cell (1, n); idx = find (sys_idx); for k = 1:n leg{k} = evalin ("caller", sprintf ("inputname(%d)", idx(k)), "''"); endfor endfunction control-3.2.0/inst/PaxHeaders.3947/mixsyn.m0000644000000000000000000000013213450727360015350 xustar0030 mtime=1554231024.549427105 30 atime=1554231024.549427105 30 ctime=1554231028.529576204 control-3.2.0/inst/mixsyn.m0000644000175000017500000002421213450727360015612 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{K}, @var{N}, @var{gamma}, @var{info}] =} mixsyn (@var{G}, @var{W1}, @var{W2}, @var{W3}, @dots{}) ## Solve stacked S/KS/T H-infinity problem. ## Mixed-sensitivity is the name given to transfer function shaping problems in which ## the sensitivity function ## @iftex ## @tex ## $ S = (I + G K)^{-1} $ ## @end tex ## @end iftex ## @ifnottex ## @example ## -1 ## S = (I + G K) ## @end example ## @end ifnottex ## is shaped along with one or more other closed-loop transfer functions such as @var{K S} ## or the complementary sensitivity function ## @iftex ## @tex ## $ T = I - S = (I + G K)^{-1} G K $ ## @end tex ## @end iftex ## @ifnottex ## @example ## -1 ## T = I - S = (I + G K) ## @end example ## @end ifnottex ## in a typical one degree-of-freedom configuration, where @var{G} denotes the plant and ## @var{K} the (sub-)optimal controller to be found. The shaping of multivariable ## transfer functions is based on the idea that a satisfactory definition of gain ## (range of gain) for a matrix transfer function is given by the singular values ## @iftex ## @tex ## $\\sigma$ ## @end tex ## @end iftex ## @ifnottex ## ## @end ifnottex ## of the transfer function. Hence the classical loop-shaping ideas of feedback design ## can be generalized to multivariable systems. In addition to the requirement that ## @var{K} stabilizes @var{G}, the closed-loop objectives are as follows [1]: ## @enumerate ## @item For @emph{disturbance rejection} make ## @iftex ## @tex ## $\\overline{\\sigma}(S)$ ## @end tex ## @end iftex ## @ifnottex ## ## @end ifnottex ## small. ## @item For @emph{noise attenuation} make ## @iftex ## @tex ## $\\overline{\\sigma}(T)$ ## @end tex ## @end iftex ## @ifnottex ## ## @end ifnottex ## small. ## @item For @emph{reference tracking} make ## @iftex ## @tex ## $\\overline{\\sigma}(T) \\approx \\underline{\\sigma}(T) \\approx 1$. ## @end tex ## @end iftex ## @ifnottex ## ## @end ifnottex ## @item For @emph{input usage (control energy) reduction} make ## @iftex ## @tex ## $\\overline{\\sigma}(K S)$ ## @end tex ## @end iftex ## @ifnottex ## ## @end ifnottex ## small. ## @item For @emph{robust stability} in the presence of an additive perturbation ## @iftex ## @tex ## $G_p = G + \\Delta$, ## @end tex ## @end iftex ## @ifnottex ## ## @end ifnottex ## make ## @iftex ## @tex ## $\\overline{\\sigma}(K S)$ ## @end tex ## @end iftex ## @ifnottex ## ## @end ifnottex ## small. ## @item For @emph{robust stability} in the presence of a multiplicative output perturbation ## @iftex ## @tex ## $G_p = (I + \\Delta) G$, ## @end tex ## @end iftex ## @ifnottex ## ## @end ifnottex ## make ## @iftex ## @tex ## $\\overline{\\sigma}(T)$ ## @end tex ## @end iftex ## @ifnottex ## ## @end ifnottex ## small. ## @end enumerate ## In order to find a robust controller for the so-called stacked ## @iftex ## @tex ## $S/KS/T \\ H_{\\infty}$ ## @end tex ## @end iftex ## @ifnottex ## S/KS/T H-infinity ## @end ifnottex ## problem, the user function @command{mixsyn} minimizes the following criterion ## @iftex ## @tex ## $$ \\underset{K}{\\min} || N(K) ||_{\\infty}, \\quad N = | W_1 S; \\ W_2 K S; \\ W_3 T |$$ ## @end tex ## @end iftex ## @ifnottex ## @example ## | W1 S | ## min || N(K) || N = | W2 K S | ## K oo | W3 T | ## @end example ## @end ifnottex ## @code{[K, N] = mixsyn (G, W1, W2, W3)}. ## The user-defined weighting functions @var{W1}, @var{W2} and @var{W3} bound the largest ## singular values of the closed-loop transfer functions @var{S} (for performance), ## @var{K S} (to penalize large inputs) and @var{T} (for robustness and to avoid ## sensitivity to noise), respectively [1]. ## A few points are to be considered when choosing the weights. ## The weigths @var{Wi} must all be proper and stable. Therefore if one wishes, ## for example, to minimize @var{S} at low frequencies by a weighting @var{W1} including ## integral action, ## @iftex ## @tex ## ${1 \\over s}$ ## @end tex ## @end iftex ## @ifnottex ## @example ## 1 ## - ## s ## @end example ## @end ifnottex ## needs to be approximated by ## @iftex ## @tex ## ${1 \\over s + \\epsilon}$, where $\\epsilon \\ll 1$. ## @end tex ## @end iftex ## @ifnottex ## @example ## 1 ## ----- where e << 1. ## s + e ## @end example ## @end ifnottex ## Similarly one might be interested in weighting @var{K S} with a non-proper weight ## @var{W2} to ensure that @var{K} is small outside the system bandwidth. ## The trick here is to replace a non-proper term such as ## @iftex ## @tex ## $ 1 + \\tau_1 s $ by $ {1 + \\tau_1 s \\over 1 + \\tau_2 s} $, where ## @end tex ## @end iftex ## @ifnottex ## @example ## 1 + T1 s ## 1 + T1 s by --------, where T2 << T1. ## 1 + T2 s ## @end example ## @end ifnottex ## @iftex ## @tex ## $\\tau_2 \\ll \\tau_1$ ## @end tex ## @end iftex ## [1, 2]. ## ## ## @strong{Inputs} ## @table @var ## @item G ## @acronym{LTI} model of plant. ## @item W1 ## @acronym{LTI} model of performance weight. Bounds the largest singular values of sensitivity @var{S}. ## Model must be empty @code{[]}, SISO or of appropriate size. ## @item W2 ## @acronym{LTI} model to penalize large control inputs. Bounds the largest singular values of @var{KS}. ## Model must be empty @code{[]}, SISO or of appropriate size. ## @item W3 ## @acronym{LTI} model of robustness and noise sensitivity weight. Bounds the largest singular values of ## complementary sensitivity @var{T}. Model must be empty @code{[]}, SISO or of appropriate size. ## @item @dots{} ## Optional arguments of @command{hinfsyn}. Type @command{help hinfsyn} for more information. ## @end table ## ## All inputs must be proper/realizable. ## Scalars, vectors and matrices are possible instead of @acronym{LTI} models. ## ## @strong{Outputs} ## @table @var ## @item K ## State-space model of the H-infinity (sub-)optimal controller. ## @item N ## State-space model of the lower LFT of @var{P} and @var{K}. ## @item info ## Structure containing additional information. ## @item info.gamma ## L-infinity norm of @var{N}. ## @item info.rcond ## Vector @var{rcond} contains estimates of the reciprocal condition ## numbers of the matrices which are to be inverted and ## estimates of the reciprocal condition numbers of the ## Riccati equations which have to be solved during the ## computation of the controller @var{K}. For details, ## see the description of the corresponding SLICOT routine. ## @end table ## ## @strong{Block Diagram} ## @example ## @group ## ## | W1 S | ## gamma = min||N(K)|| N = | W2 K S | = lft (P, K) ## K inf | W3 T | ## @end group ## @end example ## @example ## @group ## +------+ z1 ## +---------------------------------------->| W1 |-----> ## | +------+ ## | +------+ z2 ## | +---------------------->| W2 |-----> ## | | +------+ ## r + e | +--------+ u | +--------+ y +------+ z3 ## ----->(+)---+-->| K(s) |----+-->| G(s) |----+---->| W3 |-----> ## ^ - +--------+ +--------+ | +------+ ## | | ## +----------------------------------------+ ## @end group ## @end example ## @example ## @group ## +--------+ ## | |-----> z1 (p1x1) z1 = W1 e ## r (px1) ----->| P(s) |-----> z2 (p2x1) z2 = W2 u ## | |-----> z3 (p3x1) z3 = W3 y ## u (mx1) ----->| |-----> e (px1) e = r - y ## +--------+ ## @end group ## @end example ## @example ## @group ## +--------+ ## r ----->| |-----> z ## | P(s) | ## u +---->| |-----+ e ## | +--------+ | ## | | ## | +--------+ | ## +-----| K(s) |<----+ ## +--------+ ## @end group ## @end example ## @example ## @group ## +--------+ ## r ----->| N(s) |-----> z ## +--------+ ## @end group ## @end example ## @example ## @group ## Extended Plant: P = augw (G, W1, W2, W3) ## Controller: K = mixsyn (G, W1, W2, W3) ## Entire System: N = lft (P, K) ## Open Loop: L = G * K ## Closed Loop: T = feedback (L) ## @end group ## @end example ## ## @strong{Algorithm}@* ## Relies on functions @command{augw} and @command{hinfsyn}, ## which use SLICOT SB10FD, SB10DD and SB10AD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## ## @strong{References}@* ## [1] Skogestad, S. and Postlethwaite I. (2005) ## @cite{Multivariable Feedback Control: Analysis and Design: ## Second Edition}. Wiley, Chichester, England.@* ## [2] Meinsma, G. (1995) ## @cite{Unstable and nonproper weights in H-infinity control} ## Automatica, Vol. 31, No. 11, pp. 1655-1658 ## ## @seealso{hinfsyn, augw} ## @end deftypefn ## Author: Lukas Reichlin ## Created: December 2009 ## Version: 0.2 function [K, N, gamma, info] = mixsyn (G, W1 = [], W2 = [], W3 = [], varargin) if (nargin == 0) print_usage (); endif [p, m] = size (G); P = augw (G, W1, W2, W3); [K, N, gamma, info] = hinfsyn (P, p, m, varargin{:}); endfunction control-3.2.0/inst/PaxHeaders.3947/nichols.m0000644000000000000000000000013213450727360015460 xustar0030 mtime=1554231024.561427563 30 atime=1554231024.561427563 30 ctime=1554231028.529576204 control-3.2.0/inst/nichols.m0000644000175000017500000000637213450727360015731 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {} nichols (@var{sys}) ## @deftypefnx {Function File} {} nichols (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}) ## @deftypefnx {Function File} {} nichols (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{w}) ## @deftypefnx {Function File} {} nichols (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'}) ## @deftypefnx {Function File} {[@var{mag}, @var{pha}, @var{w}] =} nichols (@var{sys}) ## @deftypefnx {Function File} {[@var{mag}, @var{pha}, @var{w}] =} nichols (@var{sys}, @var{w}) ## Nichols chart of frequency response. If no output arguments are given, ## the response is printed on the screen. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} system. Must be a single-input and single-output (SISO) system. ## @item w ## Optional vector of frequency values. If @var{w} is not specified, ## it is calculated by the zeros and poles of the system. ## Alternatively, the cell @code{@{wmin, wmax@}} specifies a frequency range, ## where @var{wmin} and @var{wmax} denote minimum and maximum frequencies ## in rad/s. ## @item 'style' ## Line style and color, e.g. 'r' for a solid red line or '-.k' for a dash-dotted ## black line. See @command{help plot} for details. ## @end table ## ## @strong{Outputs} ## @table @var ## @item mag ## Vector of magnitude. Has length of frequency vector @var{w}. ## @item pha ## Vector of phase. Has length of frequency vector @var{w}. ## @item w ## Vector of frequency values used. ## @end table ## ## @seealso{bode, nyquist, sigma} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2009 ## Version: 1.0 function [mag_r, pha_r, w_r] = nichols (varargin) if (nargin == 0) print_usage (); endif [H, w, sty, leg] = __frequency_response__ ("nichols", varargin, nargout); H = cellfun (@reshape, H, {[]}, {1}, "uniformoutput", false); mag = cellfun (@abs, H, "uniformoutput", false); pha = cellfun (@(H) unwrap (arg (H)) * 180 / pi, H, "uniformoutput", false); if (! nargout) mag_db = cellfun (@mag2db, mag, "uniformoutput", false); plot_args = horzcat (cellfun (@horzcat, pha, mag_db, sty, "uniformoutput", false){:}); plot (plot_args{:}) axis ("tight") xlim (__axis_margin__ (xlim)) ylim (__axis_margin__ (ylim)) grid ("on") title ("Nichols Chart") xlabel ("Phase [deg]") ylabel ("Magnitude [dB]") legend (leg) else mag_r = mag{1}; pha_r = pha{1}; w_r = w{1}; endif endfunction %!demo %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! nichols(g); control-3.2.0/inst/PaxHeaders.3947/esort.m0000644000000000000000000000013213450727360015155 xustar0030 mtime=1554231024.481424509 30 atime=1554231024.481424509 30 ctime=1554231028.529576204 control-3.2.0/inst/esort.m0000644000175000017500000000425313450727360015422 0ustar00olafolaf00000000000000## Copyright (C) 2016 Mark Bronsfeld ## ## This program is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## This program is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{s} =} esort(@var{p}) ## @deftypefnx {Function File} {[@var{s}, @var{ndx}] =} esort(@var{p}) ## Sort continuous-time poles by real part (in decreasing order). ## ## @strong{Inputs} ## @table @var ## @item p ## Input vector containing continuous-time poles. ## @end table ## ## @strong{Outputs} ## @table @var ## @item s ## Vector with sorted eigenvalues. ## @item ndx ## Vector containing the indices used in the sort. ## @end table ## ## @seealso{dsort, eig, pole, pzmap, sort, zero} ## @end deftypefn ## Author: Mark Bronsfeld ## Created: December 2016 ## Version: 0.2 function [s, ndx] = esort(p) if(nargin == 1) if(!isvector(p)) error("esort: argument must be a vector"); endif else print_usage(); endif [p_sorted, ndx] = sort(real(p), 'descend'); % unused variable "p_sorted" not replaced with "~" because of backwards compatibility (<2009) s = p(ndx); endfunction %!shared s_exp, ndx_exp, s_obs, ndx_obs %! p = [-0.2410+0.5573i; %! -0.2410-0.5573i; %! 0.1503; %! -0.0972; %! -0.2590]; %! s_exp = [ 0.1503; %! -0.0972; %! -0.2410+0.5573i; %! -0.2410-0.5573i; %! -0.2590]; %! ndx_exp = [ 3; %! 4; %! 1; %! 2; %! 5]; %! [s_obs, ndx_obs] = esort(p); %!assert(s_obs, s_exp, 0); %!assert(ndx_obs, ndx_exp, 0); control-3.2.0/inst/PaxHeaders.3947/hnamodred.m0000644000000000000000000000013213450727360015762 xustar0030 mtime=1554231024.497425119 30 atime=1554231024.493424967 30 ctime=1554231028.529576204 control-3.2.0/inst/hnamodred.m0000644000175000017500000003401313450727360016224 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{Gr}, @var{info}] =} hnamodred (@var{G}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} hnamodred (@var{G}, @var{nr}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} hnamodred (@var{G}, @var{opt}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} hnamodred (@var{G}, @var{nr}, @var{opt}, @dots{}) ## ## Model order reduction by frequency weighted optimal Hankel-norm (HNA) method. ## The aim of model reduction is to find an @acronym{LTI} system @var{Gr} of order ## @var{nr} (nr < n) such that the input-output behaviour of @var{Gr} ## approximates the one from original system @var{G}. ## ## HNA is an absolute error method which tries to minimize ## @iftex ## @tex ## $$ || G - G_r ||_H = \\min $$ ## $$ || V \\ (G - G_r) \\ W ||_H = \\min $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ||G-Gr|| = min ## H ## ## ||V (G-Gr) W|| = min ## H ## @end example ## @end ifnottex ## where @var{V} and @var{W} denote output and input weightings. ## ## ## @strong{Inputs} ## @table @var ## @item G ## @acronym{LTI} model to be reduced. ## @item nr ## The desired order of the resulting reduced order system @var{Gr}. ## If not specified, @var{nr} is chosen automatically according ## to the description of key @var{"order"}. ## @item @dots{} ## Optional pairs of keys and values. @code{"key1", value1, "key2", value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item Gr ## Reduced order state-space model. ## @item info ## Struct containing additional information. ## @table @var ## @item info.n ## The order of the original system @var{G}. ## @item info.ns ## The order of the @var{alpha}-stable subsystem of the original system @var{G}. ## @item info.hsv ## The Hankel singular values corresponding to the projection @code{op(V)*G1*op(W)}, ## where G1 denotes the @var{alpha}-stable part of the original system @var{G}. ## The @var{ns} Hankel singular values are ordered decreasingly. ## @item info.nu ## The order of the @var{alpha}-unstable subsystem of both the original ## system @var{G} and the reduced-order system @var{Gr}. ## @item info.nr ## The order of the obtained reduced order system @var{Gr}. ## @end table ## @end table ## ## ## @strong{Option Keys and Values} ## @table @var ## @item 'order', 'nr' ## The desired order of the resulting reduced order system @var{Gr}. ## If not specified, @var{nr} is the sum of @var{info.nu} and the number of ## Hankel singular values greater than @code{max(tol1, ns*eps*info.hsv(1)}; ## ## @item 'method' ## Specifies the computational approach to be used. ## Valid values corresponding to this key are: ## @table @var ## @item 'descriptor' ## Use the inverse free descriptor system approach. ## @item 'standard' ## Use the inversion based standard approach. ## @item 'auto' ## Switch automatically to the inverse free ## descriptor approach in case of badly conditioned ## feedthrough matrices in V or W. Default method. ## @end table ## ## ## @item 'left', 'v' ## @acronym{LTI} model of the left/output frequency weighting. ## The weighting must be antistable. ## @iftex ## @math{|| V \\ (G-G_r) \\dots ||_H = \\min} ## @end iftex ## @ifnottex ## @example ## || V (G-Gr) . || = min ## H ## @end example ## @end ifnottex ## ## @item 'right', 'w' ## @acronym{LTI} model of the right/input frequency weighting. ## The weighting must be antistable. ## @iftex ## @math{|| \\dots (G-G_r) \\ W ||_H = \\min} ## @end iftex ## @ifnottex ## @example ## || . (G-Gr) W || = min ## H ## @end example ## @end ifnottex ## ## ## @item 'left-inv', 'inv-v' ## @acronym{LTI} model of the left/output frequency weighting. ## The weighting must have only antistable zeros. ## @iftex ## @math{|| inv(V) \\ (G-G_r) \\dots ||_H = \\min} ## @end iftex ## @ifnottex ## @example ## || inv(V) (G-Gr) . || = min ## H ## @end example ## @end ifnottex ## ## @item 'right-inv', 'inv-w' ## @acronym{LTI} model of the right/input frequency weighting. ## The weighting must have only antistable zeros. ## @iftex ## @math{|| \\dots (G-G_r) \\ inv(W) ||_H = \\min} ## @end iftex ## @ifnottex ## @example ## || . (G-Gr) inv(W) || = min ## H ## @end example ## @end ifnottex ## ## ## @item 'left-conj', 'conj-v' ## @acronym{LTI} model of the left/output frequency weighting. ## The weighting must be stable. ## @iftex ## @math{|| conj(V) \\ (G-G_r) \\dots ||_H = \\min} ## @end iftex ## @ifnottex ## @example ## || V (G-Gr) . || = min ## H ## @end example ## @end ifnottex ## ## @item 'right-conj', 'conj-w' ## @acronym{LTI} model of the right/input frequency weighting. ## The weighting must be stable. ## @iftex ## @math{|| \\dots (G-G_r) \\ conj(W) ||_H = \\min} ## @end iftex ## @ifnottex ## @example ## || . (G-Gr) W || = min ## H ## @end example ## @end ifnottex ## ## ## @item 'left-conj-inv', 'conj-inv-v' ## @acronym{LTI} model of the left/output frequency weighting. ## The weighting must be minimum-phase. ## @iftex ## @math{|| conj(inv(V)) \\ (G-G_r) \\dots ||_H = \\min} ## @end iftex ## @ifnottex ## @example ## || V (G-Gr) . || = min ## H ## @end example ## @end ifnottex ## ## @item 'right-conj-inv', 'conj-inv-w' ## @acronym{LTI} model of the right/input frequency weighting. ## The weighting must be minimum-phase. ## @iftex ## @math{|| \\dots (G-G_r) \\ conj(inv(W)) ||_H = \\min} ## @end iftex ## @ifnottex ## @example ## || . (G-Gr) W || = min ## H ## @end example ## @end ifnottex ## ## ## @item 'alpha' ## Specifies the ALPHA-stability boundary for the eigenvalues ## of the state dynamics matrix @var{G.A}. For a continuous-time ## system, ALPHA <= 0 is the boundary value for ## the real parts of eigenvalues, while for a discrete-time ## system, 0 <= ALPHA <= 1 represents the ## boundary value for the moduli of eigenvalues. ## The ALPHA-stability domain does not include the boundary. ## Default value is 0 for continuous-time systems and ## 1 for discrete-time systems. ## ## @item 'tol1' ## If @var{'order'} is not specified, @var{tol1} contains the tolerance for ## determining the order of the reduced model. ## For model reduction, the recommended value of @var{tol1} is ## c*info.hsv(1), where c lies in the interval [0.00001, 0.001]. ## @var{tol1} < 1. ## If @var{'order'} is specified, the value of @var{tol1} is ignored. ## ## @item 'tol2' ## The tolerance for determining the order of a minimal ## realization of the ALPHA-stable part of the given ## model. @var{tol2} <= @var{tol1} < 1. ## If not specified, ns*eps*info.hsv(1) is chosen. ## ## @item 'equil', 'scale' ## Boolean indicating whether equilibration (scaling) should be ## performed on system @var{G} prior to order reduction. ## Default value is true if @code{G.scaled == false} and ## false if @code{G.scaled == true}. ## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs ## is of utmost importance. The input and output scaling can @strong{not} ## be done by the equilibration option or the @command{prescale} function ## because these functions perform state transformations only. ## Furthermore, signals should not be scaled simply to a certain range. ## For all inputs (or outputs), a certain change should be of the same ## importance for the model. ## @end table ## ## ## Approximation Properties: ## @itemize @bullet ## @item ## Guaranteed stability of reduced models ## @item ## Lower guaranteed error bound ## @item ## Guaranteed a priori error bound ## @iftex ## @tex ## $$ \\sigma_{r+1} \\leq || (G-G_r) ||_{\\infty} \\leq 2 \\sum_{j=r+1}^{n} \\sigma_j $$ ## @end tex ## @end iftex ## @end itemize ## ## @strong{Algorithm}@* ## Uses SLICOT AB09JD by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2011 ## Version: 0.1 function [Gr, info] = hnamodred (G, varargin) if (nargin == 0) print_usage (); endif if (! isa (G, "lti")) error ("hnamodred: first argument must be an LTI system"); endif if (nargin > 1) # hnamodred (G, ...) if (is_real_scalar (varargin{1})) # hnamodred (G, nr) varargin = horzcat (varargin(2:end), {"order"}, varargin(1)); endif if (isstruct (varargin{1})) # hnamodred (G, opt, ...), hnamodred (G, nr, opt, ...) varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end)); endif ## order placed at the end such that nr from hnamodred (G, nr, ...) ## and hnamodred (G, nr, opt, ...) overrides possible nr's from ## key/value-pairs and inside opt struct (later keys override former keys, ## nr > key/value > opt) endif nkv = numel (varargin); # number of keys and values if (rem (nkv, 2)) error ("hnamodred: keys and values must come in pairs"); endif [a, b, c, d, tsam, scaled] = ssdata (G); [p, m] = size (G); dt = isdt (G); ## default arguments alpha = __modred_default_alpha__ (dt); av = bv = cv = dv = []; jobv = 0; aw = bw = cw = dw = []; jobw = 0; jobinv = 2; tol1 = 0; tol2 = 0; ordsel = 1; nr = 0; ## handle keys and values for k = 1 : 2 : nkv key = lower (varargin{k}); val = varargin{k+1}; switch (key) case {"left", "v", "wo"} [av, bv, cv, dv, jobv] = __modred_check_weight__ (val, dt, p, p); ## TODO: correct error messages for non-square weights case {"right", "w", "wi"} [aw, bw, cw, dw, jobw] = __modred_check_weight__ (val, dt, m, m); case {"left-inv", "inv-v"} [av, bv, cv, dv] = __modred_check_weight__ (val, dt, p, p); jobv = 2; case {"right-inv", "inv-w"} [aw, bw, cw, dw] = __modred_check_weight__ (val, dt, m, m); jobv = 2 case {"left-conj", "conj-v"} [av, bv, cv, dv] = __modred_check_weight__ (val, dt, p, p); jobv = 3; case {"right-conj", "conj-w"} [aw, bw, cw, dw] = __modred_check_weight__ (val, dt, m, m); jobv = 3 case {"left-conj-inv", "conj-inv-v"} [av, bv, cv, dv] = __modred_check_weight__ (val, dt, p, p); jobv = 4; case {"right-conj-inv", "conj-inv-w"} [aw, bw, cw, dw] = __modred_check_weight__ (val, dt, m, m); jobv = 4 case {"order", "nr"} [nr, ordsel] = __modred_check_order__ (val, rows (a)); case "tol1" tol1 = __modred_check_tol__ (val, "tol1"); case "tol2" tol2 = __modred_check_tol__ (val, "tol2"); case "alpha" alpha = __modred_check_alpha__ (val, dt); case "method" switch (tolower (val(1))) case {"d", "n"} # "descriptor" jobinv = 0; case {"s", "i"} # "standard" jobinv = 1; case "a" # {"auto", "automatic"} jobinv = 2; otherwise error ("hnamodred: invalid computational approach"); endswitch case {"equil", "equilibrate", "equilibration", "scale", "scaling"} scaled = __modred_check_equil__ (val); otherwise warning ("hnamodred: invalid property name '%s' ignored", key); endswitch endfor ## perform model order reduction [ar, br, cr, dr, nr, hsv, ns] = __sl_ab09jd__ (a, b, c, d, dt, scaled, nr, ordsel, alpha, ... jobv, av, bv, cv, dv, ... jobw, aw, bw, cw, dw, ... jobinv, tol1, tol2); ## assemble reduced order model Gr = ss (ar, br, cr, dr, tsam); ## assemble info struct n = rows (a); nu = n - ns; info = struct ("n", n, "ns", ns, "hsv", hsv, "nu", nu, "nr", nr); endfunction %!shared Mo, Me, Info, HSVe %! A = [ -3.8637 -7.4641 -9.1416 -7.4641 -3.8637 -1.0000 %! 1.0000, 0 0 0 0 0 %! 0 1.0000 0 0 0 0 %! 0 0 1.0000 0 0 0 %! 0 0 0 1.0000 0 0 %! 0 0 0 0 1.0000 0 ]; %! %! B = [ 1 %! 0 %! 0 %! 0 %! 0 %! 0 ]; %! %! C = [ 0 0 0 0 0 1 ]; %! %! D = [ 0 ]; %! %! G = ss (A, B, C, D); # "scaled", false %! %! AV = [ 0.2000 -1.0000 %! 1.0000 0 ]; %! %! BV = [ 1 %! 0 ]; %! %! CV = [ -1.8000 0 ]; %! %! DV = [ 1 ]; %! %! V = ss (AV, BV, CV, DV); %! %! [Gr, Info] = hnamodred (G, "left", V, "tol1", 1e-1, "tol2", 1e-14); %! [Ao, Bo, Co, Do] = ssdata (Gr); %! %! Ae = [ -0.2391 0.3072 1.1630 1.1967 %! -2.9709 -0.2391 2.6270 3.1027 %! 0.0000 0.0000 -0.5137 -1.2842 %! 0.0000 0.0000 0.1519 -0.5137 ]; %! %! Be = [ -1.0497 %! -3.7052 %! 0.8223 %! 0.7435 ]; %! %! Ce = [ -0.4466 0.0143 -0.4780 -0.2013 ]; %! %! De = [ 0.0219 ]; %! %! HSVe = [ 2.6790 2.1589 0.8424 0.1929 0.0219 0.0011 ].'; %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [Ae, Be; Ce, De]; %! %!assert (Mo, Me, 1e-4); %!assert (Info.hsv, HSVe, 1e-4); control-3.2.0/inst/PaxHeaders.3947/__dss_bilin__.m0000644000000000000000000000013213450727360016563 xustar0030 mtime=1554231024.349419469 30 atime=1554231024.349419469 30 ctime=1554231028.529576204 control-3.2.0/inst/__dss_bilin__.m0000644000175000017500000000460313450727360017027 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## 1. Discrete -> continuous ## _ ## E = alpha*E + A ## _ ## A = beta (A - alpha*E) ## _ ## B = sqrt(2*alpha*beta) * B ## _ -1 ## C = sqrt(2*alpha*beta) * C * (alpha*E + A) * E ## _ -1 ## D = D - C * (alpha*E + A) * B ## ## ## 2. Continuous -> discrete ## _ ## E = beta*E - A ## _ ## A = alpha (beta*E + A) ## _ ## B = sqrt(2*alpha*beta) * B ## _ -1 ## C = sqrt(2*alpha*beta) * C * (beta*E - A) * E ## _ -1 ## D = D + C * (beta*E - A) * B ## Special thanks to Andras Varga for the formulae. ## Author: Lukas Reichlin ## Created: October 2011 ## Version: 0.1 function [Ar, Br, Cr, Dr, Er] = __dss_bilin__ (A, B, C, D, E, beta, discrete) if (discrete) EpA = E + A; s2b = sqrt (2*beta); if (rcond (EpA) < eps) error ("d2c: E+A singular"); endif CiEpA = C / EpA; Er = EpA; Ar = beta * (A - E); Br = s2b * B; Cr = s2b * CiEpA * E; Dr = D - CiEpA * B; ## Er = E + A; ## Ar = beta * (A - E); ## Br = sqrt (2*beta) * B; ## Cr = sqrt (2*beta) * C / (E + A) * E; ## Dr = D - C / (E + A) * B; else bEmA = beta*E - A; s2b = sqrt (2*beta); if (rcond (bEmA) < eps) error ("c2d: beta*E-A singular"); endif CibEmA = C / bEmA; Er = bEmA; Ar = beta*E + A; Br = s2b * B; Cr = s2b * CibEmA * E; Dr = D + CibEmA * B; ## Er = beta*E - A; ## Ar = beta*E + A; ## Br = sqrt (2*beta) * B; ## Cr = sqrt (2*beta) * C / (beta*E - A) * E; ## Dr = D + C / (beta*E - A) * B; endif endfunction control-3.2.0/inst/PaxHeaders.3947/__modred_check_gram__.m0000644000000000000000000000013213450727360020232 xustar0030 mtime=1554231024.385420844 30 atime=1554231024.385420844 30 ctime=1554231028.529576204 control-3.2.0/inst/__modred_check_gram__.m0000644000175000017500000000235513450727360020500 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## check choice of frequency-weighted grammians. ## Author: Lukas Reichlin ## Created: December 2011 ## Version: 0.1 function job = __modred_check_gram__ (choice, key) if (! ischar (choice)) error ("modred: key '%s' requires string value", key); endif switch (tolower (choice (1))) case "s" # standard job = 0; case "e" # enhanced job = 1; otherwise error ("modred: key '%s' has an invalid value", key); endswitch endfunction control-3.2.0/inst/PaxHeaders.3947/zpk.m0000644000000000000000000000013213450727360014625 xustar0030 mtime=1554231024.597428938 30 atime=1554231024.597428938 30 ctime=1554231028.529576204 control-3.2.0/inst/zpk.m0000644000175000017500000001072013450727360015066 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{s} =} zpk (@var{'s'}) ## @deftypefnx {Function File} {@var{z} =} zpk (@var{'z'}, @var{tsam}) ## @deftypefnx {Function File} {@var{sys} =} zpk (@var{sys}) ## @deftypefnx {Function File} {@var{sys} =} zpk (@var{k}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} zpk (@var{z}, @var{p}, @var{k}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} zpk (@var{z}, @var{p}, @var{k}, @var{tsam}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} zpk (@var{z}, @var{p}, @var{k}, @var{tsam}, @dots{}) ## Create transfer function model from zero-pole-gain data. ## This is just a stop-gap compatibility wrapper since zpk ## models are not yet implemented. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model to be converted to transfer function. ## @item z ## Cell of vectors containing the zeros for each channel. ## z@{i,j@} contains the zeros from input j to output i. ## In the SISO case, a single vector is accepted as well. ## @item p ## Cell of vectors containing the poles for each channel. ## p@{i,j@} contains the poles from input j to output i. ## In the SISO case, a single vector is accepted as well. ## @item k ## Matrix containing the gains for each channel. ## k(i,j) contains the gain from input j to output i. ## @item tsam ## Sampling time in seconds. If @var{tsam} is not specified, ## a continuous-time model is assumed. ## @item @dots{} ## Optional pairs of properties and values. ## Type @command{set (tf)} for more information. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Transfer function model. ## @end table ## ## @seealso{tf, ss, dss, frd} ## @end deftypefn ## Author: Lukas Reichlin ## Created: September 2011 ## Version: 0.2 function sys = zpk (varargin) if (nargin <= 1) # zpk (), zpk (sys), zpk (k), zpk ('s') sys = tf (varargin{:}); return; elseif (nargin == 2 ... && ischar (varargin{1})) # zpk ('z', tsam) sys = tf (varargin{:}); return; endif z = {}; p = {}; k = []; # default values tsam = 0; # default sampling time [mat_idx, opt_idx] = __lti_input_idx__ (varargin); switch (numel (mat_idx)) case 1 k = varargin{mat_idx}; case 3 [z, p, k] = varargin{mat_idx}; case 4 [z, p, k, tsam] = varargin{mat_idx}; if (isempty (tsam) && is_real_matrix (tsam)) tsam = -1; elseif (! issample (tsam, -10)) error ("zpk: invalid sampling time"); endif case 0 ## nothing to do here, just prevent case 'otherwise' otherwise print_usage (); endswitch varargin = varargin(opt_idx); if (isempty (z) && isempty (p) && is_real_matrix (k)) sys = tf (k, varargin{:}); return; endif if (! iscell (z)) z = {z}; endif if (! iscell (p)) p = {p}; endif if (! size_equal (z, p, k)) error ("zpk: arguments 'z', 'p' and 'k' must have equal dimensions"); endif ## NOTE: accept [], scalars and vectors but not matrices as 'z' and 'p' ## because poly (matrix) returns the characteristic polynomial ## if the matrix is square! if (! is_zp_vector (z{:}, 1)) # last argument 1 needed if z is empty cell error ("zpk: first argument 'z' must be a vector or a cell of vectors"); endif if (! is_zp_vector (p{:}, 1)) error ("zpk: second argument 'p' must be a vector or a cell of vectors") endif if (! is_real_matrix (k)) error ("zpk: third argument 'k' must be a real-valued gain matrix"); endif num = cellfun (@(zer, gain) real (gain * poly (zer)), z, num2cell (k), "uniformoutput", false); den = cellfun (@(pol) real (poly (pol)), p, "uniformoutput", false); sys = tf (num, den, tsam, varargin{:}); endfunction control-3.2.0/inst/PaxHeaders.3947/step.m0000644000000000000000000000013213450727360014774 xustar0030 mtime=1554231024.589428632 30 atime=1554231024.589428632 30 ctime=1554231028.529576204 control-3.2.0/inst/step.m0000644000175000017500000000652013450727360015240 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {} step (@var{sys}) ## @deftypefnx{Function File} {} step (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}) ## @deftypefnx{Function File} {} step (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'}) ## @deftypefnx{Function File} {} step (@var{sys1}, @dots{}, @var{t}) ## @deftypefnx{Function File} {} step (@var{sys1}, @dots{}, @var{tfinal}) ## @deftypefnx{Function File} {} step (@var{sys1}, @dots{}, @var{tfinal}, @var{dt}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} step (@var{sys}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} step (@var{sys}, @var{t}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} step (@var{sys}, @var{tfinal}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} step (@var{sys}, @var{tfinal}, @var{dt}) ## Step response of @acronym{LTI} system. ## If no output arguments are given, the response is printed on the screen. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @item t ## Time vector. Should be evenly spaced. If not specified, it is calculated by ## the poles of the system to reflect adequately the response transients. ## @item tfinal ## Optional simulation horizon. If not specified, it is calculated by ## the poles of the system to reflect adequately the response transients. ## @item dt ## Optional sampling time. Be sure to choose it small enough to capture transient ## phenomena. If not specified, it is calculated by the poles of the system. ## @item 'style' ## Line style and color, e.g. 'r' for a solid red line or '-.k' for a dash-dotted ## black line. See @command{help plot} for details. ## @end table ## ## @strong{Outputs} ## @table @var ## @item y ## Output response array. Has as many rows as time samples (length of t) ## and as many columns as outputs. ## @item t ## Time row vector. ## @item x ## State trajectories array. Has @code{length (t)} rows and as many columns as states. ## @end table ## ## @seealso{impulse, initial, lsim} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 1.0 function [y_r, t_r, x_r] = step (varargin) if (nargin == 0) print_usage (); endif [y, t, x] = __time_response__ ("step", varargin, nargout); if (nargout) y_r = y{1}; t_r = t{1}; x_r = x{1}; endif endfunction %!demo %! clf; %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! step(g); %! title ("Step response of a PT2 transfer function"); %!demo %! clf; %! s = tf('s'); %! g = 1/(2*s^2+3*s+4); %! h = c2d(g,0.1); %! step(h); %! title ("Step response of a discretized PT2 transfer function"); control-3.2.0/inst/PaxHeaders.3947/__modred_check_alpha_gram__.m0000644000000000000000000000013213450727360021377 xustar0030 mtime=1554231024.385420844 30 atime=1554231024.385420844 30 ctime=1554231028.529576204 control-3.2.0/inst/__modred_check_alpha_gram__.m0000644000175000017500000000221213450727360021635 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## check alpha for combination methods of grammians ## Author: Lukas Reichlin ## Created: December 2011 ## Version: 0.1 function alpha = __modred_check_alpha_gram__ (alpha, key) if (! is_real_scalar (alpha)) error ("modred: argument '%s' must be a real scalar", key); endif if (abs (alpha) > 1) error ("modred: require -1 <= %s <= 1", key); endif endfunction control-3.2.0/inst/PaxHeaders.3947/lsim.m0000644000000000000000000000013213450727360014765 xustar0030 mtime=1554231024.537426647 30 atime=1554231024.537426647 30 ctime=1554231028.529576204 control-3.2.0/inst/lsim.m0000644000175000017500000002576313450727360015243 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {} lsim (@var{sys}, @var{u}) ## @deftypefnx{Function File} {} lsim (@var{sys1}, @var{sys2}, @dots{}, @var{sysN}, @var{u}) ## @deftypefnx{Function File} {} lsim (@var{sys1}, @var{'style1'}, @dots{}, @var{sysN}, @var{'styleN'}, @var{u}) ## @deftypefnx{Function File} {} lsim (@var{sys1}, @dots{}, @var{u}, @var{t}) ## @deftypefnx{Function File} {} lsim (@var{sys1}, @dots{}, @var{u}, @var{t}, @var{x0}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t}) ## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t}, @var{x0}) ## Simulate @acronym{LTI} model response to arbitrary inputs. If no output arguments are given, ## the system response is plotted on the screen. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. System must be proper, i.e. it must not have more zeros than poles. ## @item u ## Vector or array of input signal. Needs @code{length(t)} rows and as many columns ## as there are inputs. If @var{sys} is a single-input system, row vectors @var{u} ## of length @code{length(t)} are accepted as well. ## @item t ## Time vector. Should be evenly spaced. If @var{sys} is a continuous-time system ## and @var{t} is a real scalar, @var{sys} is discretized with sampling time ## @code{tsam = t/(rows(u)-1)}. If @var{sys} is a discrete-time system and @var{t} ## is not specified, vector @var{t} is assumed to be @code{0 : tsam : tsam*(rows(u)-1)}. ## @item x0 ## Vector of initial conditions for each state. If not specified, a zero vector is assumed. ## @item 'style' ## Line style and color, e.g. 'r' for a solid red line or '-.k' for a dash-dotted ## black line. See @command{help plot} for details. ## @end table ## ## @strong{Outputs} ## @table @var ## @item y ## Output response array. Has as many rows as time samples (length of t) ## and as many columns as outputs. ## @item t ## Time row vector. It is always evenly spaced. ## @item x ## State trajectories array. Has @code{length (t)} rows and as many columns as states. ## @end table ## ## @seealso{impulse, initial, step} ## @end deftypefn ## Author: Lukas Reichlin ## Created: October 2009 ## Version: 0.5 function [y_r, t_r, x_r] = lsim (varargin) ## TODO: individual initial state vectors 'x0' for each system ## there would be conflicts with other arguments, ## maybe a cell {x0_1, x0_2, ..., x0_N} would be a solution? if (nargin < 2) print_usage (); endif idx = cellfun (@islogical, varargin); tmp = cellfun (@double, varargin(idx), "uniformoutput", false); varargin(idx) = tmp; sys_idx = cellfun (@isa, varargin, {"lti"}); # LTI models mat_idx = cellfun (@is_real_matrix, varargin); # matrices sty_idx = cellfun (@ischar, varargin); # string (style arguments) inv_idx = ! (sys_idx | mat_idx | sty_idx); # invalid arguments if (any (inv_idx)) warning ("lsim: arguments number %s are invalid and are being ignored", ... mat2str (find (inv_idx)(:).')); endif if (nnz (sys_idx) == 0) error ("lsim: require at least one LTI model"); endif if (nargout > 0 && (nnz (sys_idx) > 1 || any (sty_idx))) print_usage (); endif if (! size_equal (varargin{sys_idx})) error ("lsim: all LTI models must have equal size"); endif if (any (find (sty_idx) < find (sys_idx)(1))) warning ("lsim: strings in front of first LTI model are being ignored"); endif t = []; x0 = []; # default arguments switch (nnz (mat_idx)) case 0 error ("lsim: require input signal 'u'"); case 1 u = varargin{mat_idx}; case 2 [u, t] = varargin{mat_idx}; case 3 [u, t, x0] = varargin{mat_idx}; otherwise print_usage (); endswitch if (is_real_vector (u)) # allow row vectors for single-input systems u = vec (u); elseif (isempty (u)) # ! is_real_matrix (u) already tested error ("lsim: input signal 'u' must be a real-valued matrix"); endif if (! is_real_vector (t) && ! isempty (t)) error ("lsim: time vector 't' must be real-valued or empty"); endif if (! isequal (t, unique (t))) error ("lsim: time vector 't' must be sorted"); endif if (! is_real_vector (x0) && ! isempty (x0)) error ("lsim: initial state vector 'x0' must be empty or a real-valued vector"); endif ## function [y, t, x_arr] = __linear_simulation__ (sys, u, t, x0) [y, t, x] = cellfun (@__linear_simulation__, varargin(sys_idx), {u}, {t}, {x0}, "uniformoutput", false); if (nargout == 0) # plot information ## extract plotting styles tmp = cumsum (sys_idx); tmp(sys_idx | ! sty_idx) = 0; n_sys = nnz (sys_idx); sty = arrayfun (@(x) varargin(tmp == x), 1:n_sys, "uniformoutput", false); ## default plotting styles if empty colororder = get (gca, "colororder"); rc = rows (colororder); def = arrayfun (@(k) {"color", colororder(1+rem (k-1, rc), :)}, 1:n_sys, "uniformoutput", false); idx = cellfun (@isempty, sty); sty(idx) = def(idx); ## get system names for legend ## leg = cellfun (@inputname, find (sys_idx), "uniformoutput", false); leg = cell (1, n_sys); idx = find (sys_idx); for k = 1 : n_sys try leg{k} = inputname (idx(k)); catch leg{k} = ""; # catch case lsim (lticell{:}, ...) end_try_catch endfor [p, m] = size (varargin(sys_idx){1}); ct_idx = cellfun (@isct, varargin(sys_idx)); str = "Linear Simulation Results"; outname = get (varargin(sys_idx){end}, "outname"); outname = __labels__ (outname, "y"); for k = 1 : n_sys # for every system if (ct_idx(k)) # continuous-time system for i = 1 : p # for every output if (p != 1) subplot (p, 1, i); endif plot (t{k}, y{k}(:, i), sty{k}{:}); hold on; # input should be plotted in the background using uistack, which isn't # implemented yet plot (t{k}, u, 'Color', [0.5 0.5 0.5]); # plot input grid on; if (k == n_sys) axis tight ylim (__axis_margin__ (ylim)) ylabel (outname{i}); if (i == 1) title (str); endif endif endfor else # discrete-time system for i = 1 : p # for every output if (p != 1) subplot (p, 1, i); endif stairs (t{k}, y{k}(:, i), sty{k}{:}); hold on; # input should be plotted in the background using uistack, which isn't # implemented yet plot (t{k}, u, 'Color', [0.5 0.5 0.5]); # plot input grid on; if (k == n_sys) axis tight; ylim (__axis_margin__ (ylim)) ylabel (outname{i}); if (i == 1) title (str); endif endif endfor endif endfor xlabel ("Time [s]"); if (p == 1 && m == 1) legend (leg) endif hold off; else # return values y_r = y{1}; t_r = t{1}; x_r = x{1}; endif endfunction function [y, t, x_arr] = __linear_simulation__ (sys, u, t, x0) method = "zoh"; [urows, ucols] = size (u); len_t = length (t); if (isct (sys)) # continuous-time system if (isempty (t)) # lsim (sys, u, [], ...) error ("lsim: time vector 't' must not be empty"); elseif (len_t == 1) # lsim (sys, u, tfinal, ...) dt = t / (urows - 1); t = vec (linspace (0, t, urows)); elseif (len_t != urows) error ("lsim: length of time vector (%d) doesn't match input signal (%dx%d)", ... len_t, urows, ucols); else # lsim (sys, u, t, ...) dt = abs (t(end) - t(1)) / (urows - 1); # assume that t is regularly spaced t = vec (linspace (t(1), t(end), urows)); endif sys = c2d (sys, dt, method); # convert to discrete-time model else # discrete-time system dt = abs (get (sys, "tsam")); # use 1 second as default if tsam is unspecified (-1) if (isempty (t)) # lsim (sys, u) t = vec (linspace (0, dt*(urows-1), urows)); elseif (len_t == 1) # lsim (sys, u, tfinal) ## TODO: maybe raise warning if abs (tfinal - dt*(urows-1)) > dt t = vec (linspace (0, dt*(urows-1), urows)); elseif (len_t != urows) error ("lsim: length of time vector (%d) doesn't match input signal (%dx%d)", ... len_t, urows, ucols); else # lsim (sys, u, t, ...) t = vec (linspace (t(1), t(end), len_t)); endif endif [A, B, C, D] = ssdata (sys); [p, m] = size (D); # number of outputs and inputs n = rows (A); # number of states if (ucols != m) error ("lsim: input vector 'u' must have %d columns", m); endif ## preallocate memory y = zeros (urows, p); x_arr = zeros (urows, n); ## initial conditions if (isempty (x0)) x0 = zeros (n, 1); elseif (n != length (x0) || ! is_real_vector (x0)) error ("lsim: 'x0' must be a vector with %d elements", n); endif x = vec (x0); # make sure that x is a column vector ## simulation for k = 1 : urows y(k, :) = C * x + D * u(k, :).'; x_arr(k, :) = x; x = A * x + B * u(k, :).'; endfor endfunction ## TODO: add test cases %!demo %! clf; %! A = [-3 0 0; %! 0 -2 1; %! 10 -17 0]; %! B = [4; %! 0; %! 0]; %! C = [0 0 1]; %! D = 0; %! sys = ss(A,B,C,D); %! t = 0:0.01:10; %! u = zeros (length(t) ,1); %! x0 = [0 0.1 0]; %! lsim(sys, u, t, x0); control-3.2.0/inst/PaxHeaders.3947/optiPIDfun.m0000644000000000000000000000013213450727360016042 xustar0030 mtime=1554231024.569427868 30 atime=1554231024.569427868 30 ctime=1554231028.529576204 control-3.2.0/inst/optiPIDfun.m0000644000175000017500000000310313450727360016300 0ustar00olafolaf00000000000000% =============================================================================== % optiPIDfun Lukas Reichlin July 2009 % =============================================================================== % Objective Function % Reference: Guzzella, L. (2007) Analysis and Synthesis of SISO Control Systems. % vdf Hochschulverlag, Zurich % =============================================================================== function J = optiPIDfun (C_par) % Global Variables global P t dt mu_1 mu_2 mu_3 % Function Argument -> Controller Parameters kp = C_par(1); Ti = C_par(2); Td = C_par(3); % PID Controller with Roll-Off C = optiPIDctrl (kp, Ti, Td); % Open Loop L = P * C; % Sum Block: e = r - y SUM = ss ([1, -1]); % Matlab converts to SS (and back) for MIMO TF connections % Group Sum Block and Open Loop SUML = append (SUM, L); % Build System Interconnections CM = [3, 1; % Controller Input with Sum Block Output 2, 2]; % Sum Block Negative Input with Plant Output inputs = [1]; % Input 1: reference r(t) outputs = [1, 2]; % Output 1: error e(t), Output 2: output y(t) SUML = connect (SUML, CM, inputs, outputs); % Simulation [y, t_y] = step (SUML, t); % ITAE Criterion itae = dt * (t_y.' * abs (y(:, 1))); % Sensitivity S = inv (1 + L); Ms = norm (S, inf); % Objective Function J = mu_1 * itae + mu_2 * (max (y(:, 2)) - 1) + mu_3 * Ms; end % function % =============================================================================== control-3.2.0/inst/PaxHeaders.3947/btamodred.m0000644000000000000000000000013213450727360015762 xustar0030 mtime=1554231024.445423134 30 atime=1554231024.445423134 30 ctime=1554231028.529576204 control-3.2.0/inst/btamodred.m0000644000175000017500000002373313450727360016233 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn{Function File} {[@var{Gr}, @var{info}] =} btamodred (@var{G}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} btamodred (@var{G}, @var{nr}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} btamodred (@var{G}, @var{opt}, @dots{}) ## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} btamodred (@var{G}, @var{nr}, @var{opt}, @dots{}) ## ## Model order reduction by frequency weighted Balanced Truncation Approximation (BTA) method. ## The aim of model reduction is to find an @acronym{LTI} system @var{Gr} of order ## @var{nr} (nr < n) such that the input-output behaviour of @var{Gr} ## approximates the one from original system @var{G}. ## ## BTA is an absolute error method which tries to minimize ## @iftex ## @tex ## $$ || G - G_r ||_{\\infty} = \\min $$ ## $$ || V \\ (G - G_r) \\ W ||_{\\infty} = \\min $$ ## @end tex ## @end iftex ## @ifnottex ## @example ## ||G-Gr|| = min ## inf ## ## ||V (G-Gr) W|| = min ## inf ## @end example ## @end ifnottex ## where @var{V} and @var{W} denote output and input weightings. ## ## ## @strong{Inputs} ## @table @var ## @item G ## @acronym{LTI} model to be reduced. ## @item nr ## The desired order of the resulting reduced order system @var{Gr}. ## If not specified, @var{nr} is chosen automatically according ## to the description of key @var{'order'}. ## @item @dots{} ## Optional pairs of keys and values. @code{"key1", value1, "key2", value2}. ## @item opt ## Optional struct with keys as field names. ## Struct @var{opt} can be created directly or ## by function @command{options}. @code{opt.key1 = value1, opt.key2 = value2}. ## @end table ## ## @strong{Outputs} ## @table @var ## @item Gr ## Reduced order state-space model. ## @item info ## Struct containing additional information. ## @table @var ## @item info.n ## The order of the original system @var{G}. ## @item info.ns ## The order of the @var{alpha}-stable subsystem of the original system @var{G}. ## @item info.hsv ## The Hankel singular values of the @var{alpha}-stable part of ## the original system @var{G}, ordered decreasingly. ## @item info.nu ## The order of the @var{alpha}-unstable subsystem of both the original ## system @var{G} and the reduced-order system @var{Gr}. ## @item info.nr ## The order of the obtained reduced order system @var{Gr}. ## @end table ## @end table ## ## ## @strong{Option Keys and Values} ## @table @var ## @item 'order', 'nr' ## The desired order of the resulting reduced order system @var{Gr}. ## If not specified, @var{nr} is chosen automatically such that states with ## Hankel singular values @var{info.hsv} > @var{tol1} are retained. ## ## @item 'left', 'output' ## @acronym{LTI} model of the left/output frequency weighting @var{V}. ## Default value is an identity matrix. ## ## @item 'right', 'input' ## @acronym{LTI} model of the right/input frequency weighting @var{W}. ## Default value is an identity matrix. ## ## @item 'method' ## Approximation method for the L-infinity norm to be used as follows: ## @table @var ## @item 'sr', 'b' ## Use the square-root Balance & Truncate method. ## @item 'bfsr', 'f' ## Use the balancing-free square-root Balance & Truncate method. Default method. ## @end table ## ## @item 'alpha' ## Specifies the ALPHA-stability boundary for the eigenvalues ## of the state dynamics matrix @var{G.A}. For a continuous-time ## system, ALPHA <= 0 is the boundary value for ## the real parts of eigenvalues, while for a discrete-time ## system, 0 <= ALPHA <= 1 represents the ## boundary value for the moduli of eigenvalues. ## The ALPHA-stability domain does not include the boundary. ## Default value is 0 for continuous-time systems and ## 1 for discrete-time systems. ## ## @item 'tol1' ## If @var{'order'} is not specified, @var{tol1} contains the tolerance for ## determining the order of the reduced model. ## For model reduction, the recommended value of @var{tol1} is ## c*info.hsv(1), where c lies in the interval [0.00001, 0.001]. ## Default value is info.ns*eps*info.hsv(1). ## If @var{'order'} is specified, the value of @var{tol1} is ignored. ## ## @item 'tol2' ## The tolerance for determining the order of a minimal ## realization of the ALPHA-stable part of the given ## model. TOL2 <= TOL1. ## If not specified, ns*eps*info.hsv(1) is chosen. ## ## @item 'gram-ctrb' ## Specifies the choice of frequency-weighted controllability ## Grammian as follows: ## @table @var ## @item 'standard' ## Choice corresponding to a combination method [4] ## of the approaches of Enns [1] and Lin-Chiu [2,3]. Default method. ## @item 'enhanced' ## Choice corresponding to the stability enhanced ## modified combination method of [4]. ## @end table ## ## @item 'gram-obsv' ## Specifies the choice of frequency-weighted observability ## Grammian as follows: ## @table @var ## @item 'standard' ## Choice corresponding to a combination method [4] ## of the approaches of Enns [1] and Lin-Chiu [2,3]. Default method. ## @item 'enhanced' ## Choice corresponding to the stability enhanced ## modified combination method of [4]. ## @end table ## ## @item 'alpha-ctrb' ## Combination method parameter for defining the ## frequency-weighted controllability Grammian. ## abs(alphac) <= 1. ## If alphac = 0, the choice of ## Grammian corresponds to the method of Enns [1], while if ## alphac = 1, the choice of Grammian corresponds ## to the method of Lin and Chiu [2,3]. ## Default value is 0. ## ## @item 'alpha-obsv' ## Combination method parameter for defining the ## frequency-weighted observability Grammian. ## abs(alphao) <= 1. ## If alphao = 0, the choice of ## Grammian corresponds to the method of Enns [1], while if ## alphao = 1, the choice of Grammian corresponds ## to the method of Lin and Chiu [2,3]. ## Default value is 0. ## ## @item 'equil', 'scale' ## Boolean indicating whether equilibration (scaling) should be ## performed on system @var{G} prior to order reduction. ## This is done by state transformations. ## Default value is true if @code{G.scaled == false} and ## false if @code{G.scaled == true}. ## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs ## is of utmost importance. The input and output scaling can @strong{not} ## be done by the equilibration option or the @command{prescale} function ## because these functions perform state transformations only. ## Furthermore, signals should not be scaled simply to a certain range. ## For all inputs (or outputs), a certain change should be of the same ## importance for the model. ## @end table ## ## ## Approximation Properties: ## @itemize @bullet ## @item ## Guaranteed stability of reduced models ## @item ## Lower guaranteed error bound ## @item ## Guaranteed a priori error bound ## @iftex ## @tex ## $$ \\sigma_{r+1} \\leq || (G-G_r) ||_{\\infty} \\leq 2 \\sum_{j=r+1}^{n} \\sigma_j $$ ## @end tex ## @end iftex ## @end itemize ## ## ## @strong{References}@* ## [1] Enns, D. ## @cite{Model reduction with balanced realizations: An error bound ## and a frequency weighted generalization}. ## Proc. 23-th CDC, Las Vegas, pp. 127-132, 1984. ## ## [2] Lin, C.-A. and Chiu, T.-Y. ## @cite{Model reduction via frequency-weighted balanced realization}. ## Control Theory and Advanced Technology, vol. 8, ## pp. 341-351, 1992. ## ## [3] Sreeram, V., Anderson, B.D.O and Madievski, A.G. ## @cite{New results on frequency weighted balanced reduction ## technique}. ## Proc. ACC, Seattle, Washington, pp. 4004-4009, 1995. ## ## [4] Varga, A. and Anderson, B.D.O. ## @cite{Square-root balancing-free methods for the frequency-weighted ## balancing related model reduction}. ## (report in preparation) ## ## ## @strong{Algorithm}@* ## Uses SLICOT AB09ID by courtesy of ## @uref{http://www.slicot.org, NICONET e.V.} ## @end deftypefn ## Author: Lukas Reichlin ## Created: November 2011 ## Version: 0.1 function [Gr, info] = btamodred (varargin) [Gr, info] = __modred_ab09id__ ("bta", varargin{:}); endfunction %!shared Mo, Me, Info, HSVe %! A = [ -26.4000, 6.4023, 4.3868; %! 32.0000, 0, 0; %! 0, 8.0000, 0 ]; %! %! B = [ 16 %! 0 %! 0 ]; %! %! C = [ 9.2994 1.1624 0.1090 ]; %! %! D = [ 0 ]; %! %! G = ss (A, B, C, D); % "scaled", false %! %! AV = [ -1.0000, 0, 4.0000, -9.2994, -1.1624, -0.1090; %! 0, 2.0000, 0, -9.2994, -1.1624, -0.1090; %! 0, 0, -3.0000, -9.2994, -1.1624, -0.1090; %! 16.0000, 16.0000, 16.0000, -26.4000, 6.4023, 4.3868; %! 0, 0, 0, 32.0000, 0, 0; %! 0, 0, 0, 0, 8.0000, 0 ]; %! %! BV = [ 1 %! 1 %! 1 %! 0 %! 0 %! 0 ]; %! %! CV = [ 1 1 1 0 0 0 ]; %! %! DV = [ 0 ]; %! %! V = ss (AV, BV, CV, DV); %! %! [Gr, Info] = btamodred (G, 2, "left", V); %! [Ao, Bo, Co, Do] = ssdata (Gr); %! %! Ae = [ 9.1900 0.0000 %! 0.0000 -34.5297 ]; %! %! Be = [ 11.9593 %! 16.9329 ]; %! %! Ce = [ 2.8955 6.9152 ]; %! %! De = [ 0.0000 ]; %! %! HSVe = [ 3.8253 0.2005 ].'; %! %! Mo = [Ao, Bo; Co, Do]; %! Me = [Ae, Be; Ce, De]; %! %!assert (Mo, Me, 1e-4); %!assert (Info.hsv, HSVe, 1e-4); control-3.2.0/inst/PaxHeaders.3947/__iddata_dim__.m0000644000000000000000000000013213450727360016674 xustar0030 mtime=1554231024.377420538 30 atime=1554231024.377420538 30 ctime=1554231028.529576204 control-3.2.0/inst/__iddata_dim__.m0000644000175000017500000000437313450727360017144 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## Author: Lukas Reichlin ## Created: October 2011 ## Version: 0.1 function [p, m, e] = __iddata_dim__ (y, u) e = numel (y); # number of experiments if (isempty (u)) # time series data, outputs only [p, m] = cellfun (@__experiment_dim__, y, "uniformoutput", false); elseif (e == numel (u)) # outputs and inputs present [p, m] = cellfun (@__experiment_dim__, y, u, "uniformoutput", false); else error ("iddata: require input and output data with matching number of experiments"); endif if (e > 1 && ! isequal (p{:})) error ("iddata: require identical number of output channels for all experiments"); endif if (e > 1 && ! isequal (m{:})) error ("iddata: require identical number of input channels for all experiments"); endif p = p{1}; m = m{1}; endfunction function [p, m] = __experiment_dim__ (y, u = []) if (! is_matrix (y, u)) error ("iddata: inputs and outputs must be real or complex matrices"); endif [ly, p] = size (y); [lu, m] = size (u); if (! isempty (u) && ly != lu) error ("iddata: matrices 'y' (%dx%d) and 'u' (%dx%d) must have the same number of samples (rows)", ... ly, p, lu, m); endif if (ly < p) warning ("iddata:transpose", "iddata: more outputs than samples - matrice 'y' should probably be transposed"); endif if (lu < m) warning ("iddata:transpose", "iddata: more inputs than samples - matrice 'u' should probably be transposed"); endif endfunction control-3.2.0/inst/PaxHeaders.3947/__str2idx__.m0000644000000000000000000000013213450727360016214 xustar0030 mtime=1554231024.421422218 30 atime=1554231024.421422218 30 ctime=1554231028.529576204 control-3.2.0/inst/__str2idx__.m0000644000175000017500000000254413450727360016462 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## Get input/output indices from in/outgroup and in/outname. ## For internal use only. ## Author: Lukas Reichlin ## Created: October 2013 ## Version: 0.1 function idx = __str2idx__ (group, name, str, id) if (isfield (group, str)) idx = group.(str)(:); else tmp = strcmp (name, str)(:); switch (nnz (tmp)) case 1 idx = find (tmp); case 0 error ("lti: %sgroup or %sname '%s' not found", id, id, str); otherwise error ("lti: %sname '%s' is ambiguous", id, str); ## FIXME: error for structure arrays endswitch endif endfunction control-3.2.0/inst/PaxHeaders.3947/pole.m0000644000000000000000000000013213450727360014760 xustar0030 mtime=1554231024.573428021 30 atime=1554231024.573428021 30 ctime=1554231028.529576204 control-3.2.0/inst/pole.m0000644000175000017500000001006613450727360015224 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{p} =} pole (@var{sys}) ## Compute poles of @acronym{LTI} system. ## ## @strong{Inputs} ## @table @var ## @item sys ## @acronym{LTI} model. ## @end table ## ## @strong{Outputs} ## @table @var ## @item p ## Poles of @var{sys}. ## @end table ## ## @strong{Algorithm}@* ## For (descriptor) state-space models and system/state matrices, @command{pole} ## relies on Octave's @command{eig}. ## For @acronym{SISO} transfer functions, @command{pole} ## uses Octave's @command{roots}. ## @acronym{MIMO} transfer functions are converted to ## a @emph{minimal} state-space representation for the ## computation of the poles. ## ## @end deftypefn ## Author: Lukas Reichlin ## Contributor: Mark Bronsfeld ## Created: October 2009 ## Version: 0.2 function pol = pole (sys) if(nargin == 1) # pole(sys) if(!(isa(sys, "lti")) && issquare(sys)) pol = eig(sys); elseif(isa(sys, "lti")) pol = __pole__(sys); else error("pole: argument must be an LTI system"); endif else print_usage(); endif endfunction %!shared pol_exp, pol_obs %! A = [-1, 0, 0; %! 0, -2, 0; %! 0, 0, -3]; %! pol_exp = [-3; %! -2; %! -1]; %! pol_obs = pole(A); %!assert(pol_obs, pol_exp, 0); ## Poles of descriptor state-space model %!shared pol, pol_exp, infp, kronr, kronl, infp_exp, kronr_exp, kronl_exp %! A = [ 1 0 0 0 0 0 0 0 0 %! 0 1 0 0 0 0 0 0 0 %! 0 0 1 0 0 0 0 0 0 %! 0 0 0 1 0 0 0 0 0 %! 0 0 0 0 1 0 0 0 0 %! 0 0 0 0 0 1 0 0 0 %! 0 0 0 0 0 0 1 0 0 %! 0 0 0 0 0 0 0 1 0 %! 0 0 0 0 0 0 0 0 1 ]; %! %! E = [ 0 0 0 0 0 0 0 0 0 %! 1 0 0 0 0 0 0 0 0 %! 0 1 0 0 0 0 0 0 0 %! 0 0 0 0 0 0 0 0 0 %! 0 0 0 1 0 0 0 0 0 %! 0 0 0 0 1 0 0 0 0 %! 0 0 0 0 0 0 0 0 0 %! 0 0 0 0 0 0 1 0 0 %! 0 0 0 0 0 0 0 1 0 ]; %! %! B = [ -1 0 0 %! 0 0 0 %! 0 0 0 %! 0 -1 0 %! 0 0 0 %! 0 0 0 %! 0 0 -1 %! 0 0 0 %! 0 0 0 ]; %! %! C = [ 0 1 1 0 3 4 0 0 2 %! 0 1 0 0 4 0 0 2 0 %! 0 0 1 0 -1 4 0 -2 2 ]; %! %! D = [ 1 2 -2 %! 0 -1 -2 %! 0 0 0 ]; %! %! sys = dss (A, B, C, D, E, "scaled", true); %! [pol, ~, infp, kronr, kronl] = __sl_ag08bd__ (A, E, [], [], [], true); %! %! pol_exp = zeros (0,1); %! %! infp_exp = [0, 3]; %! kronr_exp = zeros (1,0); %! kronl_exp = zeros (1,0); %! %!assert (pol, pol_exp, 1e-4); %!assert (infp, infp_exp); %!assert (kronr, kronr_exp); %!assert (kronl, kronl_exp); control-3.2.0/inst/PaxHeaders.3947/__modred_default_alpha__.m0000644000000000000000000000013213450727360020740 xustar0030 mtime=1554231024.389420996 30 atime=1554231024.389420996 30 ctime=1554231028.529576204 control-3.2.0/inst/__modred_default_alpha__.m0000644000175000017500000000210613450727360021200 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## default alpha for model reduction commands ## Author: Lukas Reichlin ## Created: November 2011 ## Version: 0.1 function alpha = __modred_default_alpha__ (dt) if (dt) # discrete-time alpha = 1; # ALPHA <= 0 else # continuous-time alpha = 0; # 0 <= ALPHA <= 1 endif endfunction control-3.2.0/inst/PaxHeaders.3947/filt.m0000644000000000000000000000013213450727360014757 xustar0030 mtime=1554231024.485424661 30 atime=1554231024.485424661 30 ctime=1554231028.529576204 control-3.2.0/inst/filt.m0000644000175000017500000001502113450727360015217 0ustar00olafolaf00000000000000## Copyright (C) 2009-2016 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with LTI Syncope. If not, see . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} filt (@var{num}, @var{den}, @dots{}) ## @deftypefnx {Function File} {@var{sys} =} filt (@var{num}, @var{den}, @var{tsam}, @dots{}) ## Create discrete-time transfer function model from data in DSP format. ## ## @strong{Inputs} ## @table @var ## @item num ## Numerator or cell of numerators. Each numerator must be a row vector ## containing the coefficients of the polynomial in ascending powers of z^-1. ## num@{i,j@} contains the numerator polynomial from input j to output i. ## In the SISO case, a single vector is accepted as well. ## @item den ## Denominator or cell of denominators. Each denominator must be a row vector ## containing the coefficients of the polynomial in ascending powers of z^-1. ## den@{i,j@} contains the denominator polynomial from input j to output i. ## In the SISO case, a single vector is accepted as well. ## @item tsam ## Sampling time in seconds. If @var{tsam} is not specified, ## default value -1 (unspecified) is taken. ## @item @dots{} ## Optional pairs of properties and values. ## Type @command{set (filt)} for more information. ## @end table ## ## @strong{Outputs} ## @table @var ## @item sys ## Discrete-time transfer function model. ## @end table ## ## @strong{Option Keys and Values} ## @table @var ## @item 'num' ## Numerator. See 'Inputs' for details. ## ## @item 'den' ## Denominator. See 'Inputs' for details. ## ## @item 'tfvar' ## String containing the transfer function variable. ## ## @item 'inv' ## Logical. True for negative powers of the transfer function variable. ## ## @item 'tsam' ## Sampling time. See 'Inputs' for details. ## ## @item 'inname' ## The name of the input channels in @var{sys}. ## Cell vector of length m containing strings. ## Default names are @code{@{'u1', 'u2', ...@}} ## ## @item 'outname' ## The name of the output channels in @var{sys}. ## Cell vector of length p containing strings. ## Default names are @code{@{'y1', 'y2', ...@}} ## ## @item 'ingroup' ## Struct with input group names as field names and ## vectors of input indices as field values. ## Default is an empty struct. ## ## @item 'outgroup' ## Struct with output group names as field names and ## vectors of output indices as field values. ## Default is an empty struct. ## ## @item 'name' ## String containing the name of the model. ## ## @item 'notes' ## String or cell of string containing comments. ## ## @item 'userdata' ## Any data type. ## @end table ## ## @strong{Example} ## @example ## @group ## 3 z^-1 ## H(z^-1) = ------------------- ## 1 + 4 z^-1 + 2 z^-2 ## ## octave:1> H = filt ([0, 3], [1, 4, 2]) ## ## Transfer function 'H' from input 'u1' to output ... ## ## 3 z^-1 ## y1: ------------------- ## 1 + 4 z^-1 + 2 z^-2 ## ## Sampling time: unspecified ## Discrete-time model. ## @end group ## @end example ## ## @seealso{tf} ## @end deftypefn ## Author: Lukas Reichlin ## Created: April 2012 ## Version: 0.2 function sys = filt (varargin) if (nargin <= 1) # filt (), filt (sys), filt (mat), filt ('s') sys = tf (varargin{:}); sys = set (sys, "inv", true); return; elseif (nargin == 2 ... && ischar (varargin{1})) # filt ('z', tsam) sys = tf (varargin{:}); return; endif num = {}; den = {}; tsam = -1; # default values [mat_idx, opt_idx, obj_flg] = __lti_input_idx__ (varargin); switch (numel (mat_idx)) case 1 num = varargin{mat_idx}; case 2 [num, den] = varargin{mat_idx}; case 3 [num, den, tsam] = varargin{mat_idx}; if (isempty (tsam) && is_real_matrix (tsam)) tsam = -1; elseif (! issample (tsam, -1)) error ("filt: invalid sampling time"); endif case 0 ## nothing to do here, just prevent case 'otherwise' otherwise print_usage (); endswitch varargin = varargin(opt_idx); if (obj_flg) varargin = horzcat ({"lti"}, varargin); endif if (isempty (den) ... && (isempty (num) || is_real_matrix (num))) sys = tf (num, "inv", true, varargin{:}); return; endif if (! iscell (num)) num = {num}; endif if (! iscell (den)) den = {den}; endif if (! size_equal (num, den) || ndims (num) != 2) error ("filt: cells 'num' and 'den' must be 2-dimensional and of equal size"); endif if (! is_real_vector (num{:}, den{:}, 1)) # last argument 1 needed if num & den are empty error ("filt: arguments 'num' and 'den' must be real-valued vectors or cells thereof"); endif ## convert from z^-1 to z ## expand each channel by z^x, where x is the largest exponent of z^-1 (z^-x) ## remove trailing zeros ## such that polynomials are as short as possible num = cellfun (@__remove_trailing_zeros__, num, "uniformoutput", false); den = cellfun (@__remove_trailing_zeros__, den, "uniformoutput", false); ## make numerator and denominator polynomials equally long ## by adding trailing zeros lnum = cellfun (@length, num, "uniformoutput", false); lden = cellfun (@length, den, "uniformoutput", false); lmax = cellfun (@max, lnum, lden, "uniformoutput", false); num = cellfun (@postpad, num, lmax, "uniformoutput", false); den = cellfun (@postpad, den, lmax, "uniformoutput", false); ## use standard tf constructor ## sys is stored in standard z form, not z^-1 ## so we can mix it with regular transfer function models ## property "inv", true displays sys in z^-1 form sys = tf (num, den, tsam, "inv", true, varargin{:}); endfunction %!shared num, den, n1, d1, n2, d2, n2e, d2e %! num = [0, 3]; %! den = [1, 4, 2]; %! sys = filt (num, den); %! [n1, d1] = filtdata (sys, "vector"); %! [n2, d2] = tfdata (sys, "vector"); %! n2e = [3, 0]; %! d2e = [1, 4, 2]; %!assert (n1, num, 1e-4); %!assert (d1, den, 1e-4); %!assert (n2, n2e, 1e-4); %!assert (d2, d2e, 1e-4); control-3.2.0/inst/PaxHeaders.3947/Boeing707.m0000644000000000000000000000012613450727360015465 xustar0028 mtime=1554231024.3214184 28 atime=1554231024.3214184 30 ctime=1554231028.529576204 control-3.2.0/inst/Boeing707.m0000644000175000017500000000433313450727360015726 0ustar00olafolaf00000000000000## Copyright (C) 1997, 2000, 2004, 2005, 2006, 2007 Kai P. Mueller ## ## ## This program is free software; you can redistribute it and/or modify it ## under the terms of the GNU General Public License as published by ## the Free Software Foundation; either version 3 of the License, or (at ## your option) any later version. ## ## This program is distributed in the hope that it will be useful, but ## WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU ## General Public License for more details. ## ## You should have received a copy of the GNU General Public License ## along with this program; see the file COPYING. If not, see ## . ## -*- texinfo -*- ## @deftypefn {Function File} {@var{sys} =} Boeing707 () ## Creates a linearized state-space model of a Boeing 707-321 aircraft ## at @var{v}=80 m/s ## @iftex ## @tex ## ($M = 0.26$, $G_{a0} = -3^{\\circ}$, ${\\alpha}_0 = 4^{\\circ}$, ${\\kappa}= 50^{\\circ}$). ## @end tex ## @end iftex ## @ifnottex ## (@var{M} = 0.26, @var{Ga0} = -3 deg, @var{alpha0} = 4 deg, @var{kappa} = 50 deg). ## @end ifnottex ## ## System inputs: (1) thrust and (2) elevator angle. ## ## System outputs: (1) airspeed and (2) pitch angle. ## ## @strong{Reference}: R. Brockhaus: @cite{Flugregelung} (Flight ## Control), Springer, 1994. ## @end deftypefn ## Author: Kai P. Mueller ## Created: September 28, 1997 function outsys = Boeing707 () if (nargin != 0) print_usage (); endif a = [-0.46E-01, 0.10681415316, 0.0, -0.17121680433; -0.1675901504661613, -0.515, 1.0, 0.6420630320636088E-02; 0.1543104215347786, -0.547945, -0.906, -0.1521689385990753E-02; 0.0, 0.0, 1.0, 0.0]; b = [0.1602300107479095, 0.2111848453E-02; 0.8196877780963616E-02, -0.3025E-01; 0.9173594317692437E-01, -0.75283075; 0.0, 0.0]; c = [1.0, 0.0, 0.0, 0.0; 0.0, 0.0, 0.0, 1.0]; d = zeros (2, 2); inam = {"thrust"; "rudder"}; onam = {"speed"; "pitch"}; ## snam = {"x1"; "x2"; "x3"; "x4"}; outsys = ss (a, b, c, d, "inname", inam, "outname", onam); endfunction control-3.2.0/PaxHeaders.3947/COPYING0000644000000000000000000000013213450727357013727 xustar0030 mtime=1554231023.981405411 30 atime=1554231023.981405411 30 ctime=1554231028.529576204 control-3.2.0/COPYING0000644000175000017500000010451313450727357014174 0ustar00olafolaf00000000000000 GNU GENERAL PUBLIC LICENSE Version 3, 29 June 2007 Copyright (C) 2007 Free Software Foundation, Inc. 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The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an "about box". You should also get your employer (if you work as a programmer) or school, if any, to sign a "copyright disclaimer" for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see . The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read . control-3.2.0/PaxHeaders.3947/INDEX0000644000000000000000000000013213450727360013460 xustar0030 mtime=1554231024.009406488 30 atime=1554231024.005406334 30 ctime=1554231028.529576204 control-3.2.0/INDEX0000644000175000017500000000437313450727360013730 0ustar00olafolaf00000000000000control >> Control Theory Examples MDSSystem optiPID Anderson Madievski VLFamp Linear Time Invariant Models dss filt frd ss tf zpk Model Data Access @lti/dssdata @lti/filtdata @lti/frdata @lti/get @lti/set @lti/ssdata @lti/tfdata @lti/zpkdata Model Conversions @lti/c2d @lti/d2c @lti/d2d @lti/prescale @lti/xperm @ss/ss2ss Model Interconnections append @lti/blkdiag @lti/connect @lti/feedback @lti/lft @lti/mconnect @lti/parallel @lti/series sumblk Model Characteristics ctrb ctrbf damp dsort esort @lti/dcgain gram hsvd @lti/isct isctrb isdetectable @lti/isdt @lti/isminimumphase isobsv @lti/issiso isstabilizable @lti/isstable @lti/norm obsv obsvf @lti/pole pzmap @lti/size @lti/zero Model Simplification @lti/minreal @lti/sminreal Time Domain Analysis covar gensig impulse imp_invar initial lsim ramp step Frequency Domain Analysis bode bodemag @lti/freqresp margin nichols nyquist sensitivity sgrid sigma Pole Placement acker place rlocus Optimal Control augstate dlqe dlqr estim kalman lqe lqr Robust Control augw fitfrd h2syn hinfsyn mixsyn mktito ncfsyn Matrix Equation Solvers care dare dlyap dlyapchol lyap lyapchol Model Reduction bstmodred btamodred hnamodred spamodred Controller Reduction btaconred cfconred fwcfconred spaconred Experimental Data Handling iddata @iddata/cat @iddata/detrend @iddata/diff @iddata/fft @iddata/filter @iddata/get @iddata/ifft @iddata/merge @iddata/nkshift @iddata/plot @iddata/resample @iddata/set @iddata/size System Identification arx moen4 moesp n4sid Overloaded LTI Operators @lti/ctranspose @lti/end @lti/horzcat @lti/inv @lti/minus @lti/mldivide @lti/mpower @lti/mrdivide @lti/mtimes @lti/plus @lti/repmat @lti/subsasgn @lti/subsref @lti/times @lti/transpose @lti/uminus @lti/uplus @lti/vertcat Overloaded IDDATA Operators @iddata/end @iddata/horzcat @iddata/subsasgn @iddata/subsref @iddata/vertcat Miscellaneous @ss/display db2mag mag2db options pid pidstd repsys strseq test_control thiran BMWengine Boeing707 WestlandLynx control-3.2.0/PaxHeaders.3947/DESCRIPTION0000644000000000000000000000013213450727357014402 xustar0030 mtime=1554231023.985405565 30 atime=1554231023.985405565 30 ctime=1554231028.529576204 control-3.2.0/DESCRIPTION0000644000175000017500000000066213450727357014647 0ustar00olafolaf00000000000000Name: control Version: 3.2.0 Date: 2019-04-01 Author: Lukas Reichlin Maintainer: Alexander Wilms , Doug Stewart Title: Computer-Aided Control System Design Description: Computer-Aided Control System Design (CACSD) Tools for GNU Octave, based on the proven SLICOT Library Depends: octave (>= 4.0.0) Autoload: no License: GPLv3+ Url: http://www.slicot.org control-3.2.0/PaxHeaders.3947/doc0000644000000000000000000000013213450727360013356 xustar0030 mtime=1554231024.057408321 30 atime=1554231028.529576204 30 ctime=1554231028.529576204 control-3.2.0/doc/0000755000175000017500000000000013450727360013674 5ustar00olafolaf00000000000000control-3.2.0/doc/PaxHeaders.3947/slicot_readme.txt0000644000000000000000000000013213450727360017006 xustar0030 mtime=1554231024.057408321 30 atime=1554231024.057408321 30 ctime=1554231028.529576204 control-3.2.0/doc/slicot_readme.txt0000644000175000017500000000531613450727360017254 0ustar00olafolaf00000000000000Important ********* If you encounter any bugs in the octave control package, please DONT bother the great people behind SLICOT. Most likely it's a problem of the control package, not the proven SLICOT library. Therefore, please send any reports to the octave mailing list and the maintainer of the control package. See the file packinfo/DESCRIPTION for the current maintainer of the control package and his mail address. Acknowledgments *************** LTI SYNCOPE - LTI SYstems aNd COntrol PackagE - is ever-increasingly based on SLICOT subroutines by courtesy of the Numerics In COntrol NETwork NICONET e.V. . Abstract ******** SLICOT is a Fortran 77 subroutine library for systems and control, distributed under GPL, developed by NICONET e.V., and available at . Commercial use requires specialized license models. SLICOT Readme ************* SLICOT - Subroutine Library In COntrol Theory - is a general purpose basic mathematical library for control theoretical computations. The library provides tools to perform essential system analysis and synthesis tasks. The main emphasis in SLICOT is on numerical reliability of implemented algorithms and the numerical robustness and efficiency of routines. Providing algorithmic flexibility and the use of rigorous implementation and documentation standards are other SLICOT features. The SLICOT Library is available as standard Fortran 77 code in double precision. Each user-callable subroutine for control computations is accompanied by an example program which illustrates the use of the subroutine and can act as a template for the user's own routines. The SLICOT Library is organized by chapters, sections and subsections. The following chapters are currently included: A : Analysis Routines B : Benchmark and Test Problems D : Data Analysis F : Filtering I : Identification M : Mathematical Routines N : Nonlinear Systems (not yet available, except for some auxiliary routines for Wiener systems) S : Synthesis Routines T : Transformation Routines U : Utility Routines The SLICOT Library is built on LAPACK (Linear Algebra PACKage) and BLAS (Basic Linear Algebra Subprograms) collections. Therefore, these packages should be available on the platform used. Basic References: 1. P. Benner, V. Mehrmann, V. Sima, S. Van Huffel, and A. Varga, "SLICOT - A Subroutine Library in Systems and Control Theory", Applied and Computational Control, Signals, and Circuits (Birkhauser), Vol. 1, Ch. 10, pp. 505-546, 1999. 2. S. Van Huffel, V. Sima, A. Varga, S. Hammarling, and F. Delebecque, "Development of High Performance Numerical Software for Control", IEEE Control Systems Magazine, Vol. 24, Nr. 1, Feb., pp. 60-76, 2004. control-3.2.0/doc/PaxHeaders.3947/references.txt0000644000000000000000000000013213450727360016315 xustar0030 mtime=1554231024.057408321 30 atime=1554231024.057408321 30 ctime=1554231028.529576204 control-3.2.0/doc/references.txt0000644000175000017500000000207613450727360016563 0ustar00olafolaf00000000000000REFERENCES ********** German ****** Geering, H.P. Regelungstechnik Springer 2004 Meyer, M. Signalverarbeitung Vieweg & Teubner 2009 English ******* Anderson, B.D.O. and Moore, J.B. Optimal Control Linear Quadratic Methods Dover Publications 1990 Astršm, K. and HŠgglund, T. PID Controllers Theory, Design and Tuning Second Edition Instrument Society of America 1995 Doyle, J.C., Francis, B.A. and Tannenbaum, A.R. Feedback Control Theory Dover Publications 1992 Geering, H.P. Optimal Control with Engineering Applications Springer 2007 Gu, D.W., Petkov, P.Hr. and Konstantinov, M.M. Robust Control with MATLAB Springer 2005 Guzzella, L. Analysis and Design of SISO Control Systems VDF Hochschulverlag ETH Zurich 2007 Kailath, T. Linear Systems Prentice Hall 1980 Leigh, J.R. Applied Digital Control Theory, Design and Implementation Second Edition Dover Publications 1992 Ljung, L. System Identification Theory for the User Second Edition Prentice Hall 1999 Skogestad, S. and Postlethwaite, I. Multivariable Feedback Control Analysis and Design Second Edition Wiley 2005 control-3.2.0/doc/PaxHeaders.3947/octave_forge_specific_api.txt0000644000000000000000000000013213450727360021335 xustar0030 mtime=1554231024.053408168 30 atime=1554231024.053408168 30 ctime=1554231028.529576204 control-3.2.0/doc/octave_forge_specific_api.txt0000644000175000017500000000147613450727360021606 0ustar00olafolaf00000000000000isstable (sys, tol) # feedback (sys) # equivalent to feedback (sys, eye (size (sys))) feedback (sys, "+") # equivalent to feedback (sys, eye (size (sys)), +1) H = sys(w) # equivalent to H = freqresp (sys, w) where w is a frequency vector place (sys, p, alpha) # If parameter alpha is specified, poles with real parts place (a, b, p, alpha) # (continuous time) or moduli (discrete time) below alpha # are left untouched. sminreal (sys, tol) # Optional tolerance for controllability and observability. # Entries of the state-space matrices whose moduli are less or # equal to TOL are assumed to be zero. Default value is 0. frd (sys) # calculate interesting frequency range by the zeros and poles of SYS.control-3.2.0/PaxHeaders.3947/NEWS0000644000000000000000000000013213450727360013365 xustar0030 mtime=1554231024.017406793 30 atime=1554231024.013406641 30 ctime=1554231028.529576204 control-3.2.0/NEWS0000644000175000017500000012440113450727360013630 0ustar00olafolaf00000000000000Summary of important user-visible changes for releases of the control package =============================================================================== control-3.2.0 Release Date: 2019-04-01 =============================================================================== ** new function sgrid ** New function: ss2ss ** Fixed many warnings ** added demos to rlocus, pzmap, bode, nichols, nyquist, impulse, lsim, ramp and step ** improved pzmap to plot with only zeros =============================================================================== control-3.1.0 Release Date: 2018-03-11 =============================================================================== ** New function: damp ** Changed nelem to numel and length to numel to remove the warnings during installation. ** The Impulse section has been rewritten, and a new file -- imp_invar.m -- added. The old system tried to use the "zoh" to get an impulse response but that is impossible. ** The new function "imp_invar.m" converts a Laplace tranfer function to a discrete tranfer function. ** New functions: acker, dsort, esort. ** Function lsim now plots inputs as well. ** Class 'ss' should now work with complex inputs. ** Extend nyquist plots. ** Fixed warnings with newer Octave versions. =============================================================================== control-3.0.0 Release Date: 2015-10-30 Release Manager: Lukas Reichlin =============================================================================== ** Substantial parts of the most vital internals have been rewritten and streamlined in order to improve compatibility and reliability. These changes to the codebase also result in better error handling in many situations and facilitate the integration of new features in upcoming releases. ** While many issues and pitfalls existing in previous releases of the control package have been fixed, the author isn't aware (at release date) of any regressions one might expect from a x.0.0 release. Note that the absence of regressions doesn't mean the absence of bugs. Especially it doesn't mean that *all* bugs from control-2.8.5 have been fixed. Also note that to err is human, and software is written by humans. Therefore, any larger piece of software is likely to contain bugs. But the author is confident that he squashed considerably more bugs than he introduced in this release. So if you waver between updating now and waiting for control-3.0.x, the author's suggestion is definitely to update now. ** As always, your feedback is highly appreciated! Even if you think that the control package is "fubar". If you just follow the German saying "gesehen, gelacht, geloescht" - which roughly translates into "seen it, laughed at it, deleted it" - there's only little chance for improvement! So if you think you've found a bug, please take the time to report your findings on Octave's bugtracker: See the link below for more information about how to report problems: ** Your help is welcome! There are many ways you can help the project fix the remaining problems, complete the documentation, and improve the overall user experience for both novices and experts alike. The author is aware of the fact that the documentation still leaves a lot to be desired. As it is often the case with developers, writing documentation and tutorials is neither his key skill nor his favorite occupation. After all, the author wrote the control package due to his personal interest in the field of control systems and not to make a living out of it. The developer's profits are the insights and experience he obtained from his work. Consequently, the control project doesn't ask you for money. In case you like the control package and should feel like donating, then consider donating to GNU Octave or the Free Software Foundation according to the information on their websites. Thank you! ** LTI models in general Improved handling of key-value pairs in all constructors for LTI models: tf (matrix, 'key1', val1, ...), ss (a, b, 'key1', val1, ...) Support inheritance of LTI properties in many variations: tf (num, den, ltisys), ss (a, b, ltisys, 'key1', val1, ...) sys.lti = ltisys, zpk (z, p, k, Ts, 'var', 'q', 'lti', ltisys, ...) Accept [] as an alias for unspecified sampling time (Ts = -1): filt ('q^-1', []), ss (a, b, c, d, []), sys.Ts = [] Automatic vector expansion for input and output names: sys.inname = 'str', sys.outname = '' (for MIMO systems) ** dss Fixed a long-standing but undiscovered bug where 'dss (sys)' overwrites sys.e with an identity matrix even if sys.e was not empty. D'oh! ** ss Support for the following special cases has been added: ss (sys, 'explicit') % convert descriptor system to regular one ss (sys, 'minimal') % equivalent to minreal (ss (sys)) ** tf, zpk, filt Restrict transfer function variable to the candidates 's', 'p' for continuous-time and 'z', 'q', 'z^-1', 'q^-1' for discrete-time models. s = tf ('s'), z = tf ('z^-1', Ts), tf (num, den, Ts, 'var', 'q') Previous control versions supported any string, which could be quite misleading, see bug #45371. ** bode, bodemag, nichols, nyquist, sigma Fixed bug #42495. It is now possible to specify a frequency vector of length 1, e.g. [mag, phase] = bode (sys, 1) Furthermore, the functions raise an error or warning if invalid arguments are passed to them. Previously, invalid arguments were simply ignored, which could be confusing. ** step, impulse, initial, ramp The time response functions now raise an error or warning if invalid arguments are passed to them. As it was the case for frequency response functions, they used to simply ignore invalid arguments. ** lsim Fixed bug #46247. (Reported by Lutz Mager and Piet Wertelaers) Support logical arrays as input signal. Before, logical arrays were simply ignored without notice, which could lead to unexpected results. Additionally, lsim received the same improvements as the other time and frequency response functions regarding invalid arguments. ** pzmap Improved argument checks. ** augstate New function for state-space models. Adds the state vector to the output vector. ** connect The function no longer raises an error for name-based interconnections if some systems have common input names and one of these inputs are to be kept. ** estim Add input/output/state names to the returned system. Support name-based selection of inputs (arguments 'sensors' and 'known'). ** sumblk Add signal names as input/output groups if argument n > 1. ** minreal If state-space models already have a minimal realization, then no state transformations are applied to the returned model. In other words, if the number of states cannot be reduced (with the chosen tolerance), the model is returned unchanged. Note that if the user sets the tolerance to the maximum value of 1, every state-space model will be reduced to zero states. There's nothing wrong with that, it's just how numerical computation works. =============================================================================== control-2.8.5 Release Date: 2015-10-01 Release Manager: Lukas Reichlin =============================================================================== ** nyquist, nichols Specifying a frequency range no longer errors out, i.e. nyquist (sys, {wmin, wmax}) ** pid, pidstd New functions for improved Matlab compatibility. ** ss Support ss (a, b, c, 0) for Matlab compatibility. (Thanks to Thomas Vasileiou) ** tf Fixed a problem which caused the expression below to fail. tf (Boeing707) \ tf (Boeing707) =============================================================================== control-2.8.4 Release Date: 2015-09-02 Release Manager: Lukas Reichlin =============================================================================== ** tf Fixed a bug which affected interconnections of MIMO transfer functions. (Reported by Piet Wertelaers) ** VLFamp Included new demo created by Thomas D. Dean. =============================================================================== control-2.8.3 Release Date: 2015-07-01 Release Manager: Lukas Reichlin =============================================================================== ** LTI models & iddata datasets Support partial matching of property names. ** mpower Fixed bug #45336. Improved reliability for the power computation of MIMO transfer functions. (Reported by Nick Jankowski) ** set Fixed bug #45371. The iddata properties 'name', 'notes' and 'userdata' are now stored as expected. (Thanks to Petr Ledvina) =============================================================================== control-2.8.2 Release Date: 2015-06-15 Release Manager: Lukas Reichlin =============================================================================== ** tf Fixed a problem when converting certain MIMO descriptor state-space systems to transfer function models. ** minreal Fixed bug #43263. Affected were transfer function models. (Thanks to Endre Kozma) ** n4sid, moesp, moen4 Fixed bug #41716. Display a meaningful error message when the iddata dataset contains not enough samples per experiment. (Reported by John W. Eaton) ** rlocus Fixed bug #44949. Fixed a problem with discontinuous plots for systems like the one below. (Thanks to Doug Stewart) sys = tf ([1 0 0 0 0 0 1], [1 0 0 0 1 0 0 0 0 1]) rlocus (sys) =============================================================================== control-2.8.1 Release Date: 2015-05-03 Release Manager: Lukas Reichlin =============================================================================== ** tf -- Revamped the modifications of TB01ZD from control version 2.8.0. The function now uses LAPACK routines to find the maximum norm element. (Thanks to Thomas Vasileiou) -- Improved error handling when converting state-space models. =============================================================================== control-2.8.0 Release Date: 2015-03-22 Release Manager: Lukas Reichlin =============================================================================== ** zero Compatibility fix in the C++ oct-file to support the upcoming Octave 4.0. (Thanks to Andreas Weber) ** isminimumphase Reverted changes from control-2.6.6. According to the definition of Byrnes/Isidori, the function tests whether the system has asymptotically stable zero dynamics. The poles are not tested. Note that the definition from Wikipedia is mixed up. For details, see the help text of the function (help @lti/isminimumphase) and the papers referenced therein. (Thanks to Ulf Schaper) ** series Fixed a bug which gave unnecessary error messages when the function is called with 4 arguments. (Thanks to Ulf Schaper) ** tf Resolved issues in MIMO state-space to transfer function conversion by implementing a more robust algorithm in SLICOT routine TB01ZD. The same algorithm is used in Octave's krylov function. (Thanks to Thomas Vasileiou) ** It is now possible to cross-compile the control package. (Thanks to John Donoghue) ** Support for 64bit indexing, i.e. Octave versions built with the --enable-64 option. (Thanks to Mike Miller) ** The control package now depends on Octave version 3.8.0 or beyond. ** In order to comply with modified Octave Forge rules, the package no longer auto-loads by default. See "help pkg" for details on auto-loading. =============================================================================== control-2.6.6 Release Date: 2014-10-11 Release Manager: Lukas Reichlin =============================================================================== ** isminimumphase According to , both the zeros and the poles of a minimum-phase system must be strictly inside the left complex half-plane (continuous-time case) or inside the unit circle (discrete-time case). Previously, the poles were not tested. (Thanks to Endre Kozma) =============================================================================== control-2.6.5 Release Date: 2014-06-16 Release Manager: Lukas Reichlin =============================================================================== ** LTI models -- The operator "times" (.*) no longer errors out when it is called with one SISO and one MIMO LTI system. The operator behaves now the same way as Octave's built-in "times" for one scalar and one matrix. -- The function "repmat" is now overloaded for LTI systems. -- Added function "repsys" as an alias for "repmat" for the sake of Matlab compatibility. ** zero Fix crash in case of empty state-space models, e.g. zero (ss) =============================================================================== control-2.6.4 Release Date: 2014-05-05 Release Manager: Lukas Reichlin =============================================================================== ** LTI models -- Fixed bug #42082. The operators mtimes (*), mldivide (\) and mrdivide (/) no longer error out when they are called with one SISO and one MIMO LTI system. They now behave the same way as they do with one scalar and one matrix. -- Refuse struct arrays as input and output groups. -- Display non-empty properties of type 'name'. ** TF models -- Added TF-specific horzcat ([tf1, tf2]) and vertcat ([tf1; tf2]) operators which override the general LTI operators. Their introduction avoids the conversion to state-space and back when MIMO transfer functions are concatenated horizontally and/or vertically. -- Added operator times (.*) to compute Hadamard/Schur product of two transfer function matrices. This operator is useful to compute the Relative-Gain Array (RGA), e.g. G = tf (Boeing707) RGA = G .* inv (G).' RGA(0) =============================================================================== control-2.6.3 Release Date: 2014-04-22 Release Manager: Lukas Reichlin =============================================================================== ** SS models For interconnections, support special case where the internal matrix (I - D*M) is singular, e.g. feedback (ss (-1, 1, 4, 1), '+') ** FRD models Fixed bug which let frequency response plots fail, e.g. bode (frd (tf (1, [1, 1]))) ** tf Refuse denominators which are zero. ** c2d For zero-order hold approximation, use SLICOT MB05ND instead of Octave's "expm" to compute the matrix exponential. Better accuracy is to be expected. ** connect -- Improved argument checking for legacy connection matrix. -- Document usage of index-based interconnections. ** inv -- Handle i/o names and groups correctly. -- Conserve the meaning of states by using the Matlab-compatible formula instead of the SLICOT-compatible one. -- Always use conversion to state-space and back for the inversion of MIMO transfer functions, even for 2x2 systems. ** pole Compute poles of descriptor state-space models with SLICOT AG08BD instead of Octave's built-in "eig" function. ** zero The gain of descriptor state-space models is now computed correctly. (Special thanks to Thomas Vasileiou for all the fixes above) ** rlocus -- Function "rlocus" now supports the fltk graphics toolkit. (Thanks to Doug Stewart) -- Fixed bug #41820. Function "rlocus" no longer errors out for certain systems like rlocus (tf ([1, 4, 4], [1, 8, 1, 8, 0])) ** transpose, ctranspose Delete i/o groups of transposed (sys.') or conjugate transposed (sys') LTI models. ** IDDATA identification datasets Raise an error if non-real-valued input or output matrices are assigned to time-domain datasets via the "set" function or subscripted assignment. =============================================================================== control-2.6.2 Release Date: 2014-02-02 Release Manager: Lukas Reichlin =============================================================================== ** hinfsyn, mixsyn By default, hinfsyn and mixsyn compute now an optimal instead of a suboptimal controller. Furthermore, Matlab compatibility is improved if hinfsyn/mixsyn is called with more than three/four input arguments. (Thanks to Thomas Vasileiou for the gamma iteration) The old behavior (sub-optimal controller) can be restored by the expressions hinfsyn (P, nmeas, ncont, 'method', 'sub') mixsyn (G, W1, W2, W3, 'method', 'sub') ** h2syn, hinfsyn, mixsyn, ncfsyn For Matlab compatibility, the third return argument is now norm "gamma". The info struct is now returned as fourth argument. [K, N, gamma, info] = *syn (G, …) ** mktito New function to partition plant for robust control. "mktito" is also used by function "augw". If a plant is partitioned that way, one can omit the inputs "nmeas" and "ncon" when calling the functions "hinfsyn" and "h2syn". ** ss The conversion of realizable descriptor systems to regular state-space form is now possible, even when the descriptor matrix "E" is singular. (Thanks to Thomas Vasileiou and Bruce Minaker) =============================================================================== control-2.6.1 Release Date: 2013-12-10 Release Manager: Lukas Reichlin =============================================================================== ** LTI models Raise an error if the user tries to create an ingroup or outgroup with indices larger than the number of inputs m or outputs p. ** thiran New function to approximate a continuous-time delay by a discrete-time allpass Thiran filter. (Thanks to Thomas Vasileiou and Spencer Jackson) ** end "end" indexing for LTI and IDDATA objects works now as expected. =============================================================================== control-2.6.0 Release Date: 2013-10-24 Release Manager: Lukas Reichlin =============================================================================== ** LTI models -- Support for name-based channel selection in various commands. Example: sys = Boeing707, sys('pitch', {'rudder', 'thrust'}) instead of sys(2, [2, 1]). -- New properties "ingroup" and "outgroup" to pool several channels: sys.ingroup.controls = [3, 1], sys.outgroup.measurements = [1, 2] sys('measurements', 'controls') instead of sys([1, 2], [3, 1]). -- Support names instead of indices in commands like "feedback" and "xperm". ** connect Support name-based interconnections. This means that the LTI models passed to "connect" will be interconnected automatically if they have their inputs and outputs named accordingly. ** sumblk New function to build summing junctions for name-based interconnections by "connect". Example: Sum = sumblk ('e = r - y + n') ** tf State-space to transfer function conversions of static gains, e.g. "tf (ss (5))", no longer error out. (Thanks to Thomas Vasileiou) ** IDDATA identification datasets Support for name-based output, input and experiment selection similar to LTI models. =============================================================================== control-2.4.5 Release Date: 2013-10-07 Release Manager: Lukas Reichlin =============================================================================== ** Compatibility to GNU Octave 3.8 Replaced line continuation marker "\" by "..." to avoid deprecated syntax warning. (Thanks to John W. Eaton) ** db2mag, mag2db New functions to convert Decibels to Magnitude and vice versa. ** d2d New function for resampling of discrete-time models. =============================================================================== control-2.4.4 Release Date: 2013-08-11 Release Manager: Lukas Reichlin =============================================================================== ** zero -- Fix documentation. Function "zero" computes the invariant zeros, not the transmission zeros when it is called with one input argument. -- Added new options to compute the system, transmission, input decoupling and output decoupling zeros besides the already existing invariant zeros. Examples: z = zero (sys, 'system'), z = zero (sys, 'transmission') -- Return an "info" struct as third output argument. It contains additional rank information as well as Kronecker indices and the numbers of infinite elementary divisors. Example: [z, k, info] = zero (sys) (Special thanks to Ferdinand Svaricek) ** resample The "resample" function for "iddata" identification datasets now handles unspecified sampling times (tsam = -1) correctly. ** Time response functions (impulse, initial, lsim, ramp, step) Fix a thinko introduced with control-2.4.3. In some cases, several responses were mistakingly plotted on the same subplot. (Thanks to Thomas Vasileiou) ** Various documentation enhancements and fixes. =============================================================================== control-2.4.3 Release Date: 2013-07-12 Release Manager: Lukas Reichlin =============================================================================== ** resample The resample function for iddata sets now adjusts the sampling time correctly after resampling. ** Time response functions (impulse, initial, lsim, ramp, step) Don't use subplot for SISO models. This allows the user to plot different responses on a single figure by calling subplot. (Thanks to Matthias Meier) ** h2syn, hinfsyn, mixsyn, ncfsyn Third return argument is now an info struct. [K, N, info] = *syn (G, …) ** optiPID Beef up documentation. =============================================================================== control-2.4.2 Release Date: 2013-02-16 Release Manager: Lukas Reichlin =============================================================================== ** Transfer function to state-space conversion (Thanks to Thomas Vasileiou): -- Fix crash. -- Fix bug if denominators are zero. ** minreal Fix crash in minreal for state-space systems. (Thanks to Thomas Vasileiou) ** sigma The plot types 1, 2, 3 were no longer supported since the introduction of multi-system plots in control-2.3.54. The help text is now updated accordingly and cruft is removed from the codebase. ** mixsyn, ncfsyn, Madievski Beef up help text. =============================================================================== control-2.4.1 Release Date: 2012-11-01 Release Manager: Lukas Reichlin =============================================================================== ** impulse, initial, lsim, step These time response functions now error out correctly when the user tries to plot multiple systems in one window with mismatching numbers of inputs and outputs. The problem was caused by Octave's built-in function "size_equal" which gave false positives for LTI objects. The problem is solved by overloading the built-in function with a new LTI method "size_equal". ** ramp Added a new time domain analysis function "ramp" which plots/computes the system's response to a ramp signal. ** c2d, d2c Added matched pole/zero discretization method "matched". Usage: Gd = c2d (Gc, Ts, 'matched'), Gc = d2c (Gd, 'matched') ** doc/control.pdf Revised PDF manual. There is now a function index at the end of the manual. Improved docstrings in several functions. =============================================================================== control-2.4.0 Release Date: 2012-09-26 Release Manager: Lukas Reichlin =============================================================================== ** Multiplot feature for time-domain plotting: impulse lsim initial step Supported are now function calls like impulse (sys1, sys2, ...), step (sys1, 'b', sys2, 'r', ...) lsim (sys1, '-k', sys2, '--k', u), initial (sys, sys2, x0) The multiplot feature for frequency-domain plotting has already been introduced with control-2.3.54. ** Anderson, Madievski, MDSSystem, optiPID Updated example scripts to use new multiplot feature. ** sensitivity Fixed a problem with plotting, introduced with control-2.3.54. ** doc/control.pdf Updated PDF manual. =============================================================================== control-2.3.54 Release Date: 2012-09-15 Release Manager: Lukas Reichlin =============================================================================== ** Multiplot feature for frequency-domain plotting: bode nichols pzmap bodemag nyquist sigma The functions above support calls like sigma (sys1, sys2, ...), nyquist (sys1, 'b', sys2, 'r', ...), bode (sys1, '-k', sys2, '-.k', sys3, ':k', {wmin, wmax}). Time domain functions are not yet multiplot ready, but they will follow in control-2.4.0. ** plot A selection of experiments from iddata identification datasets can be plotted by plot (dat, exp) instead of plot (dat(:,:,:,exp)). ** sensitivity Fixed a problem where an error was raised about an undefined function "issiso". ** All SLICOT function names have now leading and trailing underscores to emphasize their private nature. =============================================================================== control-2.3.53 Release Date: 2012-08-27 Release Manager: Lukas Reichlin =============================================================================== ** Added new functions for system identification, including: arx iddata ifft moen4 detrend nkshift moesp fft plot n4sid filter resample ** sensitivity Added new function to compute and plot the sensitivity margin Ms. ** feedback Fixed an argument check which caused false positive error messages. It was a copy-paste mistake affecting non-square systems. (Thanks to Tony Olivo) =============================================================================== control-2.3.52 Release Date: 2012-06-25 Release Manager: Lukas Reichlin =============================================================================== ** Fixed a silly mistake in MIMO transfer function to state-space conversion. The bug has been introduced with control-2.3.51. (Thanks to Jim Rawlings for providing the test case) ** dlqe, lqe Added new functions for linear quadratic estimators. (Thanks to Megan Zagrobelny) ** Upon request of the Debian maintainers, the tex-files control.tex and functions.texi for generating control.pdf are included in the doc folder, next to control.pdf. Note that functions.texi is generated automatically by the scripts in the control/devel folder and the package generate_html. They are not included in the control package and can be found on the OctaveForge SVN server. ** Minor improvements in various help texts. =============================================================================== control-2.3.51 Release Date: 2012-06-03 Release Manager: Lukas Reichlin =============================================================================== ** filt, filtdata, tf -- Added function "filt" to specify disrete-time transfer functions in DSP format, i.e. z^-1. -- Added function "filtdata" to return any type of discrete-time LTI model in DSP format. -- tf models have a new property "inv". To display a discrete-time TF sys in z^-1, set sys.inv=true. In order to switch to z, set sys.inv=false. "filt" sets property "inv" to true (z^-1) by default, while "tf" uses false (z) as default value. ** ctranspose Conjugate transpose or pertransposition of LTI objects. Used by Octave for "sys'". For a transfer-function matrix G, G' denotes the conjugate of G given by G.'(-s) for a continuous-time system or G.'(1/z) for a discrete-time system. The frequency response of the pertransposition of G is the Hermitian (conjugate) transpose of G(jw), i.e. freqresp (G', w) = freqresp (G, w)'. WARNING: Do NOT use this for dual problems, use the transpose "sys.'" (note the dot) instead. ** test_control Add a few remarks to the help text regarding the severity of failing tests. ** Makefile fixed to work with non-standard linker options e.g on Apple. ** The conversion to state-space of multi-input transfer functions with common row denominators is now handled more efficiently. =============================================================================== control-2.3.50 Release Date: 2012-03-06 Release Manager: Lukas Reichlin =============================================================================== ** Added new functions for frequency-weighted model and controller order reduction: bstmodred btaconred btamodred cfconred hnamodred fwcfconred spamodred spaconred ** Anderson, Madievski -- Added two examples for controller reduction. The m-files are named after the authors of the corresponding papers. ** fitfrd -- Added function to fit frequency response data with a state-space model. ** set -- The set command doesn't need a return argument anymore in order to save the modified values. set (sys, "key", value) is now equivalent to sys = set (sys, "key", value). ** Require Octave version 3.6.0 or better. (The frequency response plotting commands have been simplified. They now use the fixed "axis tight" command. This is a first step towards multiple systems in one plot, e.g. bode (sys1, sys2, sys3). Furthermore, the code takes advantage of the new "arrayfun" function which became a faster oct-file instead of an m-file) ** Revised package installation and cleanup efforts under the hood. The new solution compiles the SLICOT library in a less barbaric way and creates only a single oct-file containing all the SLICOT routines. This also brings along faster compile times. (Special thanks to Hans Buchmann, Carlo De Falco and Michael Goffioul for their advice) ** doc/control.pdf -- Extended PDF manual. =============================================================================== control-2.2.5 Release Date: 2012-02-09 Release Manager: Lukas Reichlin =============================================================================== ** Improved Matlab compatibility for frequency response commands. It is now possible to specify a frequency range. Example: bode (sys, {wmin, wmax}) where wmin and wmax denote frequencies in rad/s. ** margin -- Fixed a variable name such that discrete-time models are plotted without an error. (Thanks to Renato Caldas) =============================================================================== control-2.2.4 Release Date: 2012-01-07 Release Manager: Lukas Reichlin =============================================================================== ** Compatibility with Octave 3.6.0. (The makefile must specify the libraries that mkoctfile needs to link. Thanks to Marco Atzeri and Carlo De Falco) ** ctrbf, obsvf -- Added new functions to compute controllable and observable block Hessenberg realizations based on SLICOT TB01UD. (Thanks to Benjamin Fernandez and Alexandre Felipe) =============================================================================== control-2.2.3 Release Date: 2011-12-07 Release Manager: Lukas Reichlin =============================================================================== ** Improved performance when computing the frequency response of transfer function models by orders of magnitude. (I realized that "polyval" can evaluate a polynomial at several values at once in a vectorized manner.) ** bode, bodemag, nichols, sigma -- Fixed a hang when plotting pairs of purely imaginary poles or zeros. The hang was caused by nonsensical (Inf, NaN) axis values. (Reported by Laurent Tissier) ** Use single instead of double quotes when displaying names of TF and FRD models. =============================================================================== control-2.2.2 Release Date: 2011-12-04 Release Manager: Lukas Reichlin =============================================================================== ** Improved error messages for place, ARE solvers and robust control commands. ** minreal, ss -- Fixed a crash for descriptor models. minreal for dss models as well as conversion from non-proper transfer functions to descriptor state-space models should work now as expected. ** ss -- Revised default tolerance for transfer function to state-space conversion by SLICOT TD04AD. ** Better performance when computing the frequency response of SISO transfer function models. ** Reorganized tests. Most tests have been moved from "ltimodels" to the files of the LTI methods being tested. All available tests can be executed by "test_control". ** The NEWS file is handled correctly when using Octave version 3.6. Type "news("control")" or "news control" to display the news (3.6 only). =============================================================================== control-2.2.1 Release Date: 2011-10-24 Release Manager: Lukas Reichlin =============================================================================== ** tf -- Fixed a nasty bug that prevented shortening of numerator and denominator polynomials consisting solely of zeros. -- MIMO support for descriptor state-space to transfer function conversion. Usage: tf_sys = tf (dss_sys) -- MIMO support for interconnections of non-proper transfer functions via internal conversion to state-space. ** ss -- Support conversion from non-proper transfer function to descriptor state- space. Usage: dss_sys = ss (tf_sys) ** c2d, d2c -- Support bilinear transformation of descriptor state-space models. ** inv -- Support the inversion of MIMO transfer functions. Inverses of 2x2 TFs are computed directly, larger models are computed internally in state-space. ** place -- Return the number of fixed, assigned and uncontrollable poles in a single "info" struct instead of three individual output arguments. ** rlocus -- Clarify usage statement in help string. -- Check whether system is SISO. ** MDSSystem -- Display bode plots of controllers instead of singular value plots of the closed loops. ** hsvd -- Added option "alpha" to specify the alpha-stability boundary for the eigenvalues of the state dynamics matrix A. ** isctrb, isobsv -- Return number of controllable/observable states as a second output argument. ** doc/control.pdf -- Added preface to PDF manual. =============================================================================== control-2.2.0 Release Date: 2011-09-26 Release Manager: Lukas Reichlin =============================================================================== ** ss -- Transfer function to state-space conversion uses now SLICOT TD04AD. Conversion of MIMO models is now supported. Usage: ss_sys = ss (tf_sys) ** tf -- Support for interconnections of MIMO transfer functions. This is done by an internal conversion to a minimal state-space representation. With the current tf2ss and ss2tf conversions, only proper transfer function are supported. This limitation does not exist for SISO transfer functions. -- Fixed a cellfun statement that caused problems on MinGW32 builds and possibly some others. (Reported by Bernhard Weller) ** pole, zero -- Computation of poles and zeros of MIMO transfer functions is now possible via conversion to state-space. Please note that the state-space realization of SLICOT TD04AD is a minimal one. Therefore certain poles and zeros might be missing. ** zpk, zpkdata -- Included wrappers that create transfer function models from zero-pole-gain data (zpk) and zero-pole-gain data from lti models (zpkdata). They are stop-gap measures for compatibility until ZPK models are implemented. ** tfdata -- "vector" option added. For SISO models, it returns numerator and denominator directly as column vectors instead of cells containing a single column vector. ** doc/control.pdf -- Revised PDF manual. =============================================================================== control-2.1.55 Release Date: 2011-09-07 Release Manager: Lukas Reichlin =============================================================================== ** c2d -- Support for "tustin" and "prewarp" method added. -- Transfer functions are now supported via the state-space methods. -- Improved Texinfo string. ** d2c -- Discrete to continuous-time conversion added. However, support is limited to the zero-order hold, tustin and pre-warping methods. ** Conversion from descriptor to regular state-space is now performed by SLICOT routine SB10JD. Better numerical results are to be expected over the previous naive inversion formula. This conversion is used internally for ssdata and some other functions. =============================================================================== control-2.1.54 Release Date: 2011-08-22 Release Manager: Lukas Reichlin =============================================================================== ** tf -- State-space to transfer function conversion uses now SLICOT TB04BD. Conversion of MIMO models is now supported. Usage: tf_sys = tf (ss_sys) -- Display an empty line between title and numerator for better readability. -- Display whether model is static, continuous- or discrete-time. ** A PDF manual is included for the first time. It is located inside the "doc" folder. It has been generated automatically from the Texinfo help strings and is not yet completely sorted out. =============================================================================== control-2.1.53 Release Date: 2011-08-08 Release Manager: Lukas Reichlin =============================================================================== ** ncfsyn -- Added support for McFarlane/Glover loop shaping design procedure. "ncfsyn" stands for Normalized Coprime Factor Synthesis. ** MDSSystem -- Added example script which demonstrates the usage of the robust control commands "mixsyn" and "ncfsyn". ** Texinfo help strings of several functions have been extended, although documentation still leaves a lot to be desired. =============================================================================== control-2.1.52 Release Date: 2011-07-27 Release Manager: Lukas Reichlin =============================================================================== ** hsvd -- Use scaling unless state-space model property "scaled" is set to true. ** norm -- Use scaling for computation of L-infinity norm unless state-space model property "scaled" is set to true. ** minreal -- Use scaling for state-space and descriptor state-space models unless property "scaled" is set to true. -- More accurate results are to be expected for descriptor state-space models by performing only those reduction phases where effective order reduction occurs. This is achieved by saving the system matrices before each phase and restoring them if no order reduction took place. ** zero -- Use scaling for state-space and descriptor state-space models unless property "scaled" is set to true. ** frdata -- The frequency response is now returned correctly as an array and not as a vector, unless the "vector" option is set and the system is single-input single-output. -- Added help text. =============================================================================== control-2.1.51 Release Date: 2011-07-21 Release Manager: Lukas Reichlin =============================================================================== ** frd -- Support for Frequency Response Data (frd) measurement "models". =============================================================================== control-2.1.50 Release Date: 2011-07-06 Release Manager: Lukas Reichlin =============================================================================== ** ss -- Support for property "scaled". By default, it is set to "false". ** prescale -- Scaling for state-space models (SLICOT TB01ID) and descriptor models (SLICOT TG01AD). ** freqresp -- Scale state-space models using @lti/prescale.m if property "scaled" is set to "false". Frequency response commands now perform automatic scaling unless model property "scaled" is set to "true". =============================================================================== control-2.0.2 Release Date: 2011-03-18 Release Manager: Lukas Reichlin =============================================================================== ** lsim -- Fixed a logical error that refused valid initial state vectors. It was due to a thinko introduced with the changes in control-2.0.1. (Thanks to Rob Frohne) =============================================================================== control-2.0.1 Release Date: 2011-03-06 Release Manager: Lukas Reichlin =============================================================================== ** lsim -- Support time vectors not starting at zero. (Thanks to Rob Frohne) -- Improved help text. ** zero -- The gain of descriptor state-space models is now computed correctly. (fingers crossed) =============================================================================== control-2.0.0 Release Date: 2011-02-08 Release Manager: Lukas Reichlin =============================================================================== ** First official release. ===============================================================================