Mercurial > forge
changeset 10292:377d9258af10 octave-forge
control-devel: return info struct
| author | paramaniac |
|---|---|
| date | Mon, 21 May 2012 15:52:05 +0000 |
| parents | 83fd5ae52ac6 |
| children | 34fa8e0fead6 |
| files | extra/control-devel/inst/__slicot_identification__.m extra/control-devel/inst/moen4.m extra/control-devel/inst/moesp.m extra/control-devel/inst/n4sid.m |
| diffstat | 4 files changed, 278 insertions(+), 21 deletions(-) [+] |
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--- a/extra/control-devel/inst/__slicot_identification__.m Mon May 21 15:33:24 2012 +0000 +++ b/extra/control-devel/inst/__slicot_identification__.m Mon May 21 15:52:05 2012 +0000 @@ -16,7 +16,7 @@ ## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>. ## -*- texinfo -*- -## @deftypefn{Function File} {[@var{sys}, @var{x0}] =} __slicot_identification__ (@var{method}, @var{dat}, @dots{}) +## @deftypefn{Function File} {[@var{sys}, @var{x0}], @var{info} =} __slicot_identification__ (@var{method}, @var{dat}, @dots{}) ## Backend for moesp, moen4 and n4sid. ## @end deftypefn @@ -24,7 +24,7 @@ ## Created: May 2012 ## Version: 0.1 -function [sys, x0] = __slicot_identification__ (method, dat, varargin) +function [sys, x0, info] = __slicot_identification__ (method, dat, varargin) ## determine identification method switch (method) @@ -121,9 +121,18 @@ ## assemble model sys = ss (a, b, c, d, dat.tsam{1}); + ## 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 + info = struct ("K", k, "Q", q, "Ry", ry, "S", s) endfunction
--- a/extra/control-devel/inst/moen4.m Mon May 21 15:33:24 2012 +0000 +++ b/extra/control-devel/inst/moen4.m Mon May 21 15:52:05 2012 +0000 @@ -16,10 +16,10 @@ ## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{sys}, @var{x0}] =} moen4 (@var{dat}, @dots{}) -## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} moen4 (@var{dat}, @var{n}, @dots{}) -## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} moen4 (@var{dat}, @var{opt}, @dots{}) -## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} moen4 (@var{dat}, @var{n}, @var{opt}, @dots{}) +## @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{}) ## Combined method: MOESP algorithm for finding the ## matrices A and C, and N4SID algorithm for ## finding the matrices B and D. @@ -29,12 +29,260 @@ ## Created: May 2012 ## Version: 0.1 -function [sys, x0] = moen4 (varargin) +function [sys, x0, info] = moen4 (varargin) if (nargin == 0) print_usage (); endif - [sys, x0] = __slicot_identification__ ("moen4", varargin{:}); + [sys, x0, info] = __slicot_identification__ ("moen4", varargin{:}); + +endfunction + +%{ +%! + + 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 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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 + +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 ]; + +assert (a, ae, 1e-4); +assert (b, be, 1e-4); +assert (c, ce, 1e-4); +assert (d, de, 1e-4); +assert (k, ke, 1e-4); +assert (q, qe, 1e-4); +assert (ry, rye, 1e-4); +assert (s, se, 1e-4); +%}
--- a/extra/control-devel/inst/moesp.m Mon May 21 15:33:24 2012 +0000 +++ b/extra/control-devel/inst/moesp.m Mon May 21 15:52:05 2012 +0000 @@ -16,10 +16,10 @@ ## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{sys}, @var{x0}] =} moesp (@var{dat}, @dots{}) -## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} moesp (@var{dat}, @var{n}, @dots{}) -## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} moesp (@var{dat}, @var{opt}, @dots{}) -## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} moesp (@var{dat}, @var{n}, @var{opt}, @dots{}) +## @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{}) ## MOESP: Multivariable Output Error State sPace. ## @end deftypefn @@ -27,12 +27,12 @@ ## Created: May 2012 ## Version: 0.1 -function [sys, x0] = moesp (varargin) +function [sys, x0, info] = moesp (varargin) if (nargin == 0) print_usage (); endif - [sys, x0] = __slicot_identification__ ("moesp", varargin{:}); + [sys, x0, info] = __slicot_identification__ ("moesp", varargin{:}); endfunction \ No newline at end of file
--- a/extra/control-devel/inst/n4sid.m Mon May 21 15:33:24 2012 +0000 +++ b/extra/control-devel/inst/n4sid.m Mon May 21 15:52:05 2012 +0000 @@ -16,10 +16,10 @@ ## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{sys}, @var{x0}] =} n4sid (@var{dat}, @dots{}) -## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} n4sid (@var{dat}, @var{n}, @dots{}) -## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} n4sid (@var{dat}, @var{opt}, @dots{}) -## @deftypefnx {Function File} {[@var{sys}, @var{x0}] =} n4sid (@var{dat}, @var{n}, @var{opt}, @dots{}) +## @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{}) ## N4SID: Numerical algorithm for Subspace State Space System IDentification. ## @end deftypefn @@ -27,12 +27,12 @@ ## Created: May 2012 ## Version: 0.1 -function [sys, x0] = n4sid (varargin) +function [sys, x0, info] = n4sid (varargin) if (nargin == 0) print_usage (); endif - [sys, x0] = __slicot_identification__ ("n4sid", varargin{:}); + [sys, x0, info] = __slicot_identification__ ("n4sid", varargin{:}); endfunction \ No newline at end of file