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1 ## Copyright (C) 1996, 1999 Auburn University. All rights reserved. |
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2 ## |
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3 ## This file is part of Octave. |
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4 ## |
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5 ## Octave is free software; you can redistribute it and/or modify it |
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6 ## under the terms of the GNU General Public License as published by the |
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7 ## Free Software Foundation; either version 2, or (at your option) any |
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8 ## later version. |
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9 ## |
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10 ## Octave is distributed in the hope that it will be useful, but WITHOUT |
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11 ## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or |
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12 ## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
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13 ## for more details. |
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14 ## |
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15 ## You should have received a copy of the GNU General Public License |
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16 ## along with Octave; see the file COPYING. If not, write to the Free |
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17 ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. |
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18 |
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19 ## -*- texinfo -*- |
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20 ## @deftypefn {Function File} {} sysmult (@var{asys}, @var{bsys}) |
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21 ## Compute @math{sys = Asys*Bsys} (series connection): |
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22 ## @example |
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23 ## @group |
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24 ## u ---------- ---------- |
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25 ## --->| bsys |---->| asys |---> |
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26 ## ---------- ---------- |
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27 ## @end group |
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28 ## @end example |
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29 ## A warning occurs if there is direct feed-through |
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30 ## from an input of Bsys or a continuous state of @var{bsys} through a |
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31 ## discrete output of Bsys to a continuous state or output in @var{asys} |
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32 ## (system data structure does not recognize discrete inputs). |
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33 ## @end deftypefn |
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34 |
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35 ## Author: John Ingram <ingraje@eng.auburn.edu> |
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36 ## Created: July 1996 |
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37 ## updated for variable number of arguments by A. S. Hodel July 1999 |
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38 |
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39 function sys = sysmult (varargin) |
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40 |
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41 if(nargin < 1) |
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42 usage("sysmult: sys = sysmult(Asys{,Bsys,...})"); |
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43 endif |
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44 |
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45 ## collect all arguments |
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46 arglist = {}; |
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47 for kk=1:nargin |
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48 arglist{kk} = varargin{kk}; |
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49 if(!isstruct(arglist{kk})) |
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50 error("sysadd: argument %d is not a data structure",kk); |
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51 endif |
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52 endfor |
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53 |
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54 ## check system dimensions |
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55 [n,nz,mg,pg,Gyd] = sysdimensions(arglist{1}); |
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56 for kk=2:nargin |
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57 [n,nz,mh,ph,Hyd] = sysdimensions(arglist{kk}); |
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58 if(ph != mg) |
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59 error("arg %d has %d outputs; arg %d has %d inputs",kk,ph,kk-1,mg); |
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60 endif |
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61 [n,nz,mg,pg,Gyd] = sysdimensions(arglist{kk}); # for next iteration |
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62 endfor |
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63 |
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64 ## perform the multiply |
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65 if(nargin == 2) |
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66 Asys = arglist{1}; |
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67 Bsys = arglist{2}; |
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68 |
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69 [An,Anz,Am,Ap] = sysdimensions(Asys); |
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70 [Bn,Bnz,Bm,Bp] = sysdimensions(Bsys); |
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71 |
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72 [Aa,Ab,Ac,Ad,Atsam,An,Anz,Astname,Ainname,Aoutname,Ayd] = sys2ss(Asys); |
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73 [Ba,Bb,Bc,Bd,Btsam,Bn,Bnz,Bstname,Binname,Boutname,Byd] = sys2ss(Bsys); |
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74 |
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75 if(Byd) |
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76 ## check direct feed-through of inputs through discrete outputs |
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77 alist = find(Byd); |
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78 if(An) |
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79 bd = Ab(1:An)* Bd(alist,:); |
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80 if(norm(bd,1)) |
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81 warning("sysmult: inputs -> Bsys discrete outputs -> continous states of Asys"); |
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82 endif |
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83 endif |
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84 ## check direct feed-through of continuous state through discrete outputs |
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85 if(Bn) |
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86 bc = Ab(1:An)* Bc(alist,1:(Bn)); |
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87 if( norm(bc,1) ) |
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88 warning("sysmult: Bsys states -> Bsys discrete outputs -> continuous states of Asys"); |
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89 endif |
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90 endif |
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91 endif |
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92 |
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93 ## change signal names to avoid spurious warnings from sysgroup |
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94 Asys = syssetsignals(Asys,"in",__sysdefioname__(Am,"A_sysmult_tmp_name")); |
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95 Bsys = syssetsignals(Bsys,"out",__sysdefioname__(Bp,"B_sysmult_tmp_name")); |
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96 |
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97 sys = sysgroup(Asys,Bsys); |
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98 |
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99 ## connect outputs of B to inputs of A |
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100 sys = sysconnect(sys,Ap+(1:Bp),1:Am); |
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101 |
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102 ## now keep only outputs of A and inputs of B |
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103 sys = sysprune(sys,1:Ap,Am+(1:Bm)); |
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104 |
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105 else |
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106 ## multiple systems (or a single system); combine together one by one |
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107 sys = arglist{1}; |
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108 for kk=2:length(arglist) |
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109 sys = sysmult(sys,arglist{kk}); |
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110 endfor |
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111 endif |
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112 |
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113 endfunction |
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114 |
