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comparison scripts/control/system/buildssic.m @ 4771:b8105302cfe8

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[project @ 2004-02-16 17:45:50 by jwe]
author jwe
date Mon, 16 Feb 2004 17:45:50 +0000
parents 22bd65326ec1
children bdbee5282954
comparison
equal deleted inserted replaced
4770:ef5e598f099b 4771:b8105302cfe8
148 D_SYS = (nz > 0); 148 D_SYS = (nz > 0);
149 [A,B,C,D,tsam] = sys2ss(s1); 149 [A,B,C,D,tsam] = sys2ss(s1);
150 nt = n + nz; 150 nt = n + nz;
151 endif 151 endif
152 for ii = 6:nargin 152 for ii = 6:nargin
153 eval(["ss = s", num2str(ii-4), ";"]); 153 eval(["mysys = s", num2str(ii-4), ";"]);
154 if (!isstruct(ss)) 154 if (!isstruct(mysys))
155 error("---> Parameter must be a structed system."); 155 error("---> Parameter must be a structed system.");
156 endif 156 endif
157 ss = sysupdate(ss, "ss"); 157 mysys = sysupdate(mysys, "ss");
158 [n1, nz1, m1, p1] = sysdimensions(ss); 158 [n1, nz1, m1, p1] = sysdimensions(mysys);
159 if (n1 && nz1) 159 if (n1 && nz1)
160 error("---> cannot handle mixed continuous and discrete systems."); 160 error("---> cannot handle mixed continuous and discrete systems.");
161 endif 161 endif
162 if (D_SYS) 162 if (D_SYS)
163 if (n1) 163 if (n1)
164 error("---> cannot handle mixed cont. and discr. systems."); 164 error("---> cannot handle mixed cont. and discr. systems.");
165 endif 165 endif
166 if (tsam != sysgettsam(ss)) 166 if (tsam != sysgettsam(mysys))
167 error("---> sampling time of all systems must match."); 167 error("---> sampling time of all systems must match.");
168 endif 168 endif
169 endif 169 endif
170 [as,bs,cs,ds] = sys2ss(ss); 170 [as,bs,cs,ds] = sys2ss(mysys);
171 nt1 = n1 + nz1; 171 nt1 = n1 + nz1;
172 if (!nt1) 172 if (!nt1)
173 ## pure gain (pad B, C with zeros) 173 ## pure gain (pad B, C with zeros)
174 B = [B, zeros(nt,m1)]; 174 B = [B, zeros(nt,m1)];
175 C = [C; zeros(p1,nt)]; 175 C = [C; zeros(p1,nt)];
293 endif 293 endif
294 Bnew(:,ii) = sign(iu)*B(:,abs(iu)); 294 Bnew(:,ii) = sign(iu)*B(:,abs(iu));
295 Dnew(:,ii) = sign(iu)*D(:,abs(iu)); 295 Dnew(:,ii) = sign(iu)*D(:,abs(iu));
296 endfor 296 endfor
297 297
298 sys = ss2sys(A, Bnew, C, Dnew, tsam, n, nz); 298 sys = ss(A, Bnew, C, Dnew, tsam, n, nz);
299 299
300 endfunction 300 endfunction