Mercurial > forge
view extra/control-oo/inst/estim.m @ 6694:041ea4439bfb octave-forge
control-oo: add test
author | paramaniac |
---|---|
date | Sat, 13 Feb 2010 16:22:35 +0000 |
parents | be8fc2668214 |
children | 0d98076554fc |
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## Copyright (C) 2009 Lukas F. Reichlin ## ## This file is part of LTI Syncope. ## ## LTI Syncope is free software: you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by ## the Free Software Foundation, either version 3 of the License, or ## (at your option) any later version. ## ## LTI Syncope is distributed in the hope that it will be useful, ## but WITHOUT ANY WARRANTY; without even the implied warranty of ## MERCHANTABILITY or FITNESS FOR A PARTICULAR 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 <http://www.gnu.org/licenses/>. ## -*- 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 ## @end deftypefn ## Author: Lukas Reichlin <lukas.reichlin@gmail.com> ## Created: November 2009 ## Version: 0.1 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 a LTI system"); endif [a, b, c, d, tsam] = ssdata (sys); if (isempty (sensors)) sensors = 1 : rows (c); endif m = length (known); n = rows (a); p = length (sensors); b = b(:, known); c = c(sensors, :); d = d(sensors, known); f = a - l*c; g = [b - l*d, l]; h = [c; eye(n)]; j = [d, zeros(p, p); zeros(n, m), zeros(n, p)]; est = ss (f, g, h, j, tsam); ## TODO: inname, stname, 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);