Mercurial > forge
changeset 10273:4ca415a8e829 octave-forge
control-devel: initial state vectors for multi-experiment identification
| author | paramaniac |
|---|---|
| date | Fri, 18 May 2012 20:25:34 +0000 |
| parents | 48db51e91ef4 |
| children | 3a0310e7d4c0 |
| files | extra/control-devel/devel/ident.m extra/control-devel/src/slident.cc |
| diffstat | 2 files changed, 87 insertions(+), 68 deletions(-) [+] |
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--- a/extra/control-devel/devel/ident.m Fri May 18 18:23:28 2012 +0000 +++ b/extra/control-devel/devel/ident.m Fri May 18 20:25:34 2012 +0000 @@ -49,5 +49,9 @@ [a, b, c, d, q, ry, s, k, x0] = slident (dat.y, dat.u, nobr, n, meth, alg, batch, conct, ctrl, rcond, tol); sys = ss (a, b, c, d, dat.tsam{1}); + + if (numel (x0) == 1) + x0 = x0{1}; + endif endfunction
--- a/extra/control-devel/src/slident.cc Fri May 18 18:23:28 2012 +0000 +++ b/extra/control-devel/src/slident.cc Fri May 18 20:25:34 2012 +0000 @@ -621,87 +621,103 @@ // SLICOT IB01CD - estimating the initial state // //////////////////////////////////////////////////////////////////////////////////// -// TODO: use only one iwork and dwork for all three slicot routines -// ldwork = max (ldwork_a, ldwork_b, ldwork_c) - -/* // arguments in char jobx0 = 'X'; char comuse = 'U'; char jobbd = 'D'; // arguments out - int ldv = max (1, n); - - ColumnVector x0 (n); - Matrix v (ldv, n); + Cell x0_cell (n_exp, 1); - // workspace - int liwork_c = n; // if JOBX0 = 'X' and COMUSE <> 'C' - int ldwork_c; - int t = nsmp; - - int ldw1_c = 2; - int ldw2_c = t*l*(n + 1) + 2*n + max (2*n*n, 4*n); - 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)); + for (int i = 0; i < n_exp; i++) + { + Matrix y = y_cell.elem(i).matrix_value (); + Matrix u = u_cell.elem(i).matrix_value (); + + int nsmp = y.rows (); // nsmp: number of samples + int ldv = max (1, n); + + int ldu; - OCTAVE_LOCAL_BUFFER (int, iwork_c, liwork_c); - OCTAVE_LOCAL_BUFFER (double, dwork_c, ldwork_c); + if (m == 0) + ldu = 1; + else // m > 0 + ldu = nsmp; - // error indicators - int iwarn_c = 0; - 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)); + int ldy = nsmp; - if (f77_exception_encountered) - error ("ident: exception in SLICOT subroutine IB01CD"); + ColumnVector x0 (n); + Matrix v (ldv, n); + + // workspace + int liwork_c = n; // if JOBX0 = 'X' and COMUSE <> 'C' + int ldwork_c; + int t = nsmp; + + int ldw1_c = 2; + int ldw2_c = t*l*(n + 1) + 2*n + max (2*n*n, 4*n); + 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 (int, iwork_c, liwork_c); + OCTAVE_LOCAL_BUFFER (double, dwork_c, ldwork_c); - 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"}; + // error indicators + int iwarn_c = 0; + int info_c = 0; - 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"}; + // 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)); - error_msg ("ident: IB01CD", info_c, 2, err_msg_c); - warning_msg ("ident: IB01CD", iwarn_c, 6, warn_msg_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; + } + // return values retval(0) = a; @@ -714,8 +730,7 @@ retval(6) = s; retval(7) = k; - // retval(8) = x0; - retval(8) = octave_value (0); + retval(8) = x0_cell; } return retval;