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comparison scripts/control/system/sysgroup.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 cef48c4b902d
children bdbee5282954
comparison
equal deleted inserted replaced
4770:ef5e598f099b 4771:b8105302cfe8
59 if(nargin < 1) 59 if(nargin < 1)
60 usage("sys = sysgroup(Asys{,Bsys,...})"); 60 usage("sys = sysgroup(Asys{,Bsys,...})");
61 endif 61 endif
62 62
63 ## collect all arguments 63 ## collect all arguments
64 arglist = list(); 64 arglist = {};
65 for kk=1:nargin 65 for kk=1:nargin
66 arglist(kk) = varargin{kk}; 66 arglist(kk) = varargin{kk};
67 if(!isstruct(nth(arglist,kk))) 67 if(!isstruct(arglist{kk}))
68 error("sysgroup: argument %d is not a data structure",kk); 68 error("sysgroup: argument %d is not a data structure",kk);
69 endif 69 endif
70 endfor 70 endfor
71 71
72 if(nargin == 2) 72 if(nargin == 2)
73 ## the usual case; group the two systems together 73 ## the usual case; group the two systems together
74 Asys = nth(arglist,1); 74 Asys = arglist{1};
75 Bsys = nth(arglist,2); 75 Bsys = arglist{2};
76 76
77 ## extract information from Asys, Bsys to consruct sys 77 ## extract information from Asys, Bsys to consruct sys
78 Asys = sysupdate(Asys,"ss"); 78 Asys = sysupdate(Asys,"ss");
79 Bsys = sysupdate(Bsys,"ss"); 79 Bsys = sysupdate(Bsys,"ss");
80 [n1,nz1,m1,p1] = sysdimensions(Asys); 80 [n1,nz1,m1,p1] = sysdimensions(Asys);
92 92
93 elseif(Atsam != Btsam) 93 elseif(Atsam != Btsam)
94 error("sysgroup: Asys.tsam=%e, Bsys.tsam =%e", Atsam, Btsam); 94 error("sysgroup: Asys.tsam=%e, Bsys.tsam =%e", Atsam, Btsam);
95 endif 95 endif
96 96
97 A = [Aa,zeros(nA,nB); zeros(nB,nA),Ba]; 97 if(nA*nB > 0)
98 B = [Ab,zeros(nA,m2); zeros(nB,m1),Bb]; 98 A12 = zeros(nA,nB);
99 C = [Ac,zeros(p1,nB); zeros(p2,nA),Bc]; 99 else
100 D = [Ad,zeros(p1,m2); zeros(p2,m1),Bd]; 100 A12 = [];
101 endif
102 A = [Aa,A12; A12', Ba];
103
104 if(nA*m2 > 0)
105 B12 = zeros(nA,m2);
106 else
107 B12 = [];
108 endif
109 if(nB*m1 > 0)
110 B21 = zeros(nB,m1);
111 else
112 B21 = [];
113 endif
114 if(isempty(Ab))
115 Ab = [];
116 endif
117 if(isempty(Bb))
118 Bb = [];
119 endif
120 B = [Ab, B12; B21, Bb];
121
122 if(p1*nB > 0)
123 C12 = zeros(p1,nB);
124 else
125 C12 = [];
126 endif
127 if(p2*nA > 0)
128 C21 = zeros(p2,nA);
129 else
130 C21 = [];
131 endif
132 C = [Ac, C12; C21,Bc];
133
134 if(p1*m2 > 0)
135 D12 = zeros(p1,m2);
136 else
137 D12 = [];
138 endif
139 if(p2*m1 > 0)
140 D21 = zeros(p2,m1);
141 else
142 D21 = [];
143 endif
144 D = [Ad, D12; D21, Bd];
101 tsam = max(Atsam,Btsam); 145 tsam = max(Atsam,Btsam);
102 146
103 ## construct combined signal names; stnames must check for pure gain blocks 147 ## construct combined signal names; stnames must check for pure gain blocks
104 if(isempty(Ast)) 148 if(isempty(Ast))
105 stname = Bst; 149 stname = Bst;
106 elseif(isempty(Bst)) 150 elseif(isempty(Bst))
107 stname = Ast; 151 stname = Ast;
108 else 152 else
109 stname = append(Ast, Bst); 153 stname= __sysconcat__(Ast,Bst);
110 endif 154 endif
111 inname = append(Ain, Bin); 155 inname = __sysconcat__(Ain,Bin);
112 outname = append(Aout,Bout); 156 outname = __sysconcat__(Aout,Bout);
113 157
114 ## Sort states into continous first, then discrete 158 ## Sort states into continous first, then discrete
115 dstates = ones(1,(nA+nB)); 159 dstates = ones(1,(nA+nB));
116 if(An) 160 if(An)
117 dstates(1:(An)) = zeros(1,An); 161 dstates(1:(An)) = zeros(1,An);
132 176
133 ## mark discrete outputs 177 ## mark discrete outputs
134 outlist = find([Ayd, Byd]); 178 outlist = find([Ayd, Byd]);
135 179
136 ## build new system 180 ## build new system
137 sys = ss2sys(A,B,C,D,tsam,An+Bn,Anz+Bnz,stname,inname,outname); 181 sys = ss(A,B,C,D,tsam,An+Bn,Anz+Bnz,stname,inname,outname);
138 182
139 else 183 else
140 ## multiple systems (or a single system); combine together one by one 184 ## multiple systems (or a single system); combine together one by one
141 sys = nth(arglist,1); 185 sys = arglist{1};
142 for kk=2:length(arglist) 186 for kk=2:length(arglist)
143 printf("sysgroup: kk=%d\n",kk); 187 printf("sysgroup: kk=%d\n",kk);
144 sys = sysgroup(sys,nth(arglist,kk)); 188 sys = sysgroup(sys,arglist{kk});
145 endfor 189 endfor
146 endif 190 endif
147 191
148 unwind_protect_cleanup 192 unwind_protect_cleanup
149 warn_empty_list_elements = save_warn_empty_list_elements; 193 warn_empty_list_elements = save_warn_empty_list_elements;