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1 ## Copyright (C) 1996, 1998, 2000, 2002, 2003, 2004, 2005, 2006, 2007 |
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2 ## Auburn University. All rights reserved. |
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3 ## |
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4 ## This file is part of Octave. |
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5 ## |
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6 ## Octave is free software; you can redistribute it and/or modify it |
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7 ## under the terms of the GNU General Public License as published by |
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8 ## the Free Software Foundation; either version 3 of the License, or (at |
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9 ## your option) any later version. |
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10 ## |
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11 ## Octave is distributed in the hope that it will be useful, but |
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12 ## WITHOUT ANY WARRANTY; without even the implied warranty of |
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13 ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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14 ## General Public License for more details. |
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15 ## |
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16 ## You should have received a copy of the GNU General Public License |
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17 ## along with Octave; see the file COPYING. If not, see |
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18 ## <http://www.gnu.org/licenses/>. |
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19 |
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20 ## -*- texinfo -*- |
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21 ## @deftypefn {Function File} {@var{sys} =} sysappend (@var{syst}, @var{b}, @var{c}, @var{d}, @var{outname}, @var{inname}, @var{yd}) |
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22 ## appends new inputs and/or outputs to a system |
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23 ## |
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24 ## @strong{Inputs} |
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25 ## @table @var |
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26 ## @item syst |
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27 ## system data structure |
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28 ## |
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29 ## @item b |
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30 ## matrix to be appended to sys "B" matrix (empty if none) |
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31 ## |
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32 ## @item c |
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33 ## matrix to be appended to sys "C" matrix (empty if none) |
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34 ## |
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35 ## @item d |
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36 ## revised sys d matrix (can be passed as [] if the revised d is all zeros) |
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37 ## |
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38 ## @item outname |
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39 ## list of names for new outputs |
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40 ## |
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41 ## @item inname |
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42 ## list of names for new inputs |
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43 ## |
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44 ## @item yd |
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45 ## binary vector; @math{yd(ii)=0} indicates a continuous output; |
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46 ## @math{yd(ii)=1} indicates a discrete output. |
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47 ## @end table |
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48 ## |
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49 ## @strong{Outputs} |
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50 ## @table @var |
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51 ## @item sys |
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52 ## @example |
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53 ## @group |
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54 ## sys.b := [syst.b , b] |
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55 ## sys.c := [syst.c ] |
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56 ## [ c ] |
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57 ## sys.d := [syst.d | D12 ] |
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58 ## [ D21 | D22 ] |
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59 ## @end group |
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60 ## @end example |
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61 ## where @math{D12}, @math{D21}, and @math{D22} are the appropriate dimensioned |
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62 ## blocks of the input parameter @var{d}. |
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63 ## @itemize @bullet |
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64 ## @item The leading block @math{D11} of @var{d} is ignored. |
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65 ## @item If @var{inname} and @var{outname} are not given as arguments, |
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66 ## the new inputs and outputs are be assigned default names. |
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67 ## @item @var{yd} is a binary vector of length rows(c) that indicates |
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68 ## continuous/sampled outputs. Default value for @var{yd} is: |
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69 ## @itemize @minus |
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70 ## @item @var{sys} is continuous or mixed |
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71 ## @var{yd} = @code{zeros(1,rows(c))} |
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72 ## |
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73 ## @item @var{sys} is discrete |
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74 ## @var{yd} = @code{ones(1,rows(c))} |
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75 ## @end itemize |
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76 ## @end itemize |
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77 ## @end table |
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78 ## @end deftypefn |
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79 |
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80 ## Author: John Ingram <ingraje@eng.auburn.edu> |
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81 ## Created: August 1996 |
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82 |
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83 function retsys = sysappend (sys, b, c, d, outname, inname, yd) |
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84 |
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85 ## check input arguments |
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86 if (nargin < 2 || nargin > 7) |
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87 print_usage (); |
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88 elseif (! isstruct (sys)) |
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89 error ("sys must be a system data structure"); |
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90 endif |
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91 |
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92 ## default system type must be state space form |
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93 [Aa, Ab, Ac, Ad, Ats, Ann, Anz, Ast, Ain, Aout, Ayd] = sys2ss(sys); |
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94 [Ann, Anz, Am, Ap] = sysdimensions(sys); |
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95 |
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96 ## default c |
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97 if (nargin < 3) |
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98 c = []; |
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99 endif |
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100 |
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101 ## default d |
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102 if (nargin < 4) |
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103 make_d = 1; |
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104 elseif (isempty(d)) |
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105 make_d = 1; |
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106 else |
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107 make_d = 0; |
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108 endif |
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109 |
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110 if (make_d) |
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111 d = zeros (rows(c)+Ap, columns(b)+Am); |
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112 endif |
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113 |
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114 ## Append new input(s) if any |
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115 Bm = max (columns(d), columns(b)+Am); |
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116 if (Bm != Am) |
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117 ## construct new signal names |
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118 if (nargin >= 6) # new names were passed |
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119 if (! ischar (inname)) |
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120 error ("inname must be a string"); |
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121 elseif (rows (inname) != Bm - Am) |
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122 error ("%d new inputs requested; inname(%dx%d)", |
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123 Bm-Am, rows (inname), columns (inname)); |
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124 endif |
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125 else |
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126 inname = __sysdefioname__ (Bm, "u", Am+1); |
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127 endif |
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128 |
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129 if (Am) |
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130 Ain = __sysconcat__(Ain, inname); |
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131 else |
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132 Ain = inname; |
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133 endif |
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134 |
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135 ## default b matrix |
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136 if (isempty (b)) |
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137 b = zeros (Ann+Anz, (Bm-Am)); |
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138 elseif (rows (b) != Ann+Anz || columns (b) != Bm-Am) |
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139 error ("b(%dx%d); should be (%dx%d)", rows(b), columns(b), |
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140 Ann+Anz, Bm-Am); |
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141 endif |
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142 |
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143 ## append new b matrix |
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144 Ab = [Ab, b]; |
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145 endif |
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146 |
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147 ## Append new output(s) if any |
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148 Bp = max (rows(d), rows(c)+Ap); |
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149 if (Bp != Ap) |
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150 |
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151 ## construct new signal names, output classification |
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152 if (nargin >= 5) # new names were passed |
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153 if (! ischar (outname)) |
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154 error ("outname must be a string"); |
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155 elseif (rows (outname) != Bp-Ap) |
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156 error ("%d new outputs requested; outname(%dx%d)", |
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157 Bp-Ap, rows (outname), columns (outname)); |
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158 endif |
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159 else |
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160 outname = __sysdefioname__ (Bp, "y", (Ap+1)); |
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161 endif |
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162 if (Ap) |
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163 Aout = __sysconcat__ (Aout, outname); |
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164 else |
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165 Aout = outname; |
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166 endif |
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167 |
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168 ## construct new yd entries |
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169 if (nargin == 7) |
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170 if (! isvector (yd)) |
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171 error ("yd(%dx%d) must be a vector", rows (yd), columns (yd)); |
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172 elseif (rows (c) != length (yd) && rows (d) != length (yd)) |
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173 error ("length(yd) = %d; c(%dx%d), d(%dx%d); mismatch", |
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174 length (yd), rows (c), columns (c), rows (d), columns (d)); |
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175 endif |
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176 else |
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177 ## default yd values |
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178 yd = ones (1, Bp) * ((Ats > 0) & (Ann == 0) & isempty (find (Ayd == 0))); |
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179 endif |
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180 Ayd = [vec(Ayd); vec(yd)]; |
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181 |
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182 ## default c matrix |
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183 if (isempty (c)) |
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184 c = zeros (Bp-Ap, Ann+Anz); |
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185 elseif (columns (c) != Ann+Anz || rows (c) != Bp-Ap) |
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186 error ("c(%dx%d); should be (%dx%d)", rows (c), columns (c), |
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187 Bp-Ap, Ann+Anz); |
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188 endif |
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189 |
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190 ## append new c matrix |
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191 Ac = [Ac; c]; |
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192 endif |
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193 |
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194 ## check d matrix |
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195 if (isempty (d)) |
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196 d = zeros (Bp, Bm); |
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197 elseif (rows (d) != Bp || columns (d) != Bm) |
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198 error ("d(%dx%d) should be (%dx%d)", rows (d), columns (d), Bp, Bp); |
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199 endif |
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200 |
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201 ## Splice in original D matrix |
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202 if (Am & Ap) |
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203 d(1:Ap, 1:Am) = Ad; |
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204 endif |
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205 Ad = d; |
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206 |
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207 ## construct return system |
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208 retsys = ss (Aa, Ab, Ac, Ad, Ats, Ann, Anz, Ast, Ain, Aout, find (Ayd == 1)); |
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209 |
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210 endfunction |
