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1 ## Copyright (C) 1996, 2000, 2002, 2004, 2005, 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 ## O B S O L E T E * * * D O N O T U S E! |
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21 ## |
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22 ## Use lqg instead. |
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23 ## |
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24 ## function [K,Q,P,Ee,Er] = dlqg(A,B,C,G,Sigw,Sigv,Q,R) |
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25 ## function [K,Q,P,Ee,Er] = dlqg(Sys,Sigw,Sigv,Q,R) |
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26 ## |
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27 ## design a discrete-time linear quadratic gaussian optimal controller |
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28 ## for the system |
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29 ## |
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30 ## x(k+1) = A x(k) + B u(k) + G w(k) [w]=N(0,[Sigw 0 ]) |
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31 ## y(k) = C x(k) + v(k) [v] ( 0 Sigv ]) |
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32 ## |
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33 ## Outputs: |
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34 ## K: system data structure format LQG optimal controller |
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35 ## P: Solution of control (state feedback) algebraic Riccati equation |
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36 ## Q: Solution of estimation algebraic Riccati equation |
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37 ## Ee: estimator poles |
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38 ## Es: controller poles |
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39 ## inputs: |
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40 ## A,B,C,G, or Sys: state space representation of system. |
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41 ## Sigw, Sigv: covariance matrices of independent Gaussian noise processes |
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42 ## (as above) |
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43 ## Q, R: state, control weighting matrices for dlqr call respectively. |
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44 ## |
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45 ## See also: lqg, dlqe, dlqr |
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46 |
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47 ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> |
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48 ## Created: August 1995 |
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49 |
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50 function [K, Q, P, Ee, Er] = dlqg (A, B, C, G, Sigw, Sigv, Q, R) |
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51 |
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52 warning("dlqg: obsolete. use lqg instead (system data structure format)"); |
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53 |
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54 if (nargin == 5) |
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55 ## system data structure format |
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56 |
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57 ## check that it really is system data structure |
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58 if(! isstruct(A) ) |
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59 error("dlqg: 5 arguments, first argument is not a system data structure structure") |
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60 endif |
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61 |
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62 sys = sysupdate(sys,"ss"); # make sure in proper form |
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63 [ncstates,ndstates,nin,nout] = sysdimensions(sys); |
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64 if(ndstates == -1) |
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65 error("this message should never appear: bad system dimensions"); |
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66 endif |
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67 |
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68 if(ncstates) |
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69 error("dlqg: system has continuous-time states (try lqg?)") |
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70 elseif(ndstates < 1) |
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71 error("dlqg: system has no discrete time states") |
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72 elseif(nin <= columns(Sigw)) |
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73 error(["dlqg: ",num2str(nin)," inputs provided, noise dimension is ", ... |
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74 num2str(columns(Sigw))]) |
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75 elseif(nout != columns(Sigv)) |
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76 error(["dlqg: number of outputs (",num2str(nout),") incompatible with ", ... |
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77 "dimension of Sigv (",num2str(columns(Sigv)),")"]) |
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78 endif |
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79 |
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80 ## put parameters into correct variables |
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81 R = Sigw; |
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82 Q = G; |
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83 Sigv = C; |
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84 Sigw = B; |
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85 [A,B,C,D] = sys2ss(Sys) |
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86 [n,m] = size(B) |
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87 m1 = columns(Sigw); |
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88 m2 = m1+1; |
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89 G = B(:,1:m1); |
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90 B = B(:,m2:m); |
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91 |
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92 elseif (nargin == 8) |
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93 ## state-space format |
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94 m = columns(B); |
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95 m1 = columns(G); |
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96 p = rows(C); |
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97 n = abcddim(A,B,C,zeros(p,m)); |
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98 n1 = abcddim(A,G,C,zeros(p,m1)); |
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99 if( (n == -1) || (n1 == -1)) |
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100 error("dlqg: A,B,C,G incompatibly dimensioned"); |
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101 elseif(p != columns(Sigv)) |
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102 error("dlqg: C, Sigv incompatibly dimensioned"); |
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103 elseif(m1 != columns(Sigw)) |
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104 error("dlqg: G, Sigw incompatibly dimensioned"); |
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105 endif |
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106 else |
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107 error ("dlqg: invalid number of arguments") |
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108 endif |
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109 |
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110 if (! (issquare(Sigw) && issquare(Sigv) ) ) |
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111 error("dlqg: Sigw, Sigv must be square"); |
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112 endif |
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113 |
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114 ## now we can just do the design; call dlqr and dlqe, since all matrices |
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115 ## are not given in Cholesky factor form (as in h2syn case) |
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116 [Ks, P, Er] = dlqr(A,B,Q,R); |
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117 [Ke, Q, jnk, Ee] = dlqe(A,G,C,Sigw,Sigv); |
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118 Ac = A - Ke*C - B*Ks; |
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119 Bc = Ke; |
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120 Cc = -Ks; |
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121 Dc = zeros(rows(Cc),columns(Bc)); |
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122 K = ss(Ac,Bc,Cc,Dc,1); |
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123 disp("HODEL: need to add names to this guy!") |
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124 |
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125 endfunction |
