## Copyright (C) 1996,1999 Auburn University.  All Rights Reserved
##
## This file is part of Octave. 
##
## Octave is free software; you can redistribute it and/or modify it 
## under the terms of the GNU General Public License as published by the 
## Free Software Foundation; either version 2, or (at your option) any 
## later version. 
## 
## Octave is distributed in the hope that it will be useful, but WITHOUT 
## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or 
## FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License 
## for more details.
## 
## You should have received a copy of the GNU General Public License 
## along with Octave; see the file COPYING.  If not, write to the Free 
## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. 

## -*- texinfo -*-
## @deftypefn {Function File } { @var{sys} =} syssub (@var{Gsys}, @var{Hsys})
##  returns @math{sys = Gsys - Hsys}
## 
##  Method: @var{Gsys} and @var{Hsys} are connected in parallel
##  The input vector is connected to both systems; the outputs are
##  subtracted.  Returned system names are those of @var{Gsys}.
## @example
## @group
##           ________
##      ----|  Gsys  |---
## u   |    ----------  +|         
## -----                (_)----> y
##     |     ________   -|
##      ----|  Hsys  |---
##           --------
## @end group
## @end example
## @end deftypefn
 
function sys = syssub (...)

  ## Written by John Ingram July 1996
  ## updated for variable numbers of input arguments by July 1999 A. S. Hodel

  if(nargin < 1)
    usage("syssub: sys = syssub(Gsys{,Hsys,...})");
  endif

  ## collect all arguments
  arglist = list();
  va_start();
  for kk=1:nargin
    arglist(kk) = va_arg();
    if(!is_struct(nth(arglist,kk)))
      error("syssub: argument %d is not a data structure",kk);
    endif
  endfor           

  ## check system dimensions
  [n,nz,mg,pg,Gyd] = sysdimensions(nth(arglist,1));
  for kk=2:nargin
    [n,nz,mh,ph,Hyd] = sysdimensions(nth(arglist,kk));
    if(mg != mh)
      error("arg 1 has %d inputs; arg %d has vs %d inputs",mg,kk,mh);
    elseif(pg != ph)
      error("arg 1 has %d outputs; arg %d has vs %d outputs",pg,kk,ph);
    elseif(norm(Gyd - Hyd))
      warning("cannot add a discrete output to a continuous output");
      error("Output type mismatch: arguments 1 and %d\n",kk);
    endif
  endfor

  ## perform the subtract
  if(nargin == 2)
    Gsys = nth(arglist,1);   Hsys = nth(arglist,2);
    if( strcmp(sysgettype(Gsys),"tf") | strcmp(sysgettype(Hsys),"tf") )
      ## see if subtracting  transfer functions with identical denominators
      [Gnum,Gden,GT,Gin,Gout] = sys2tf(Gsys);
      [Hnum,Hden,HT,Hin,Hout] = sys2tf(Hsys);
      if(length(Hden) == length(Gden) )
        if( (Hden == Gden) & (HT == GT) )
          sys = tf2sys(Gnum+Hnum,Gden,GT,Gin,Gout);
          return
        endif
        ## if not, we go on and do the usual thing...
      endif
    endif
  
    ## make sure in ss form
    Gsys = sysupdate(Gsys,"ss");
    Hsys = sysupdate(Hsys,"ss");
  
    ## change signal names to avoid warning messages from sysgroup
    Gsys = syssetsignals(Gsys,"in",sysdefioname(length(Gin),"Gin_u"));
    Gsys = syssetsignals(Gsys,"out",sysdefioname(length(Gout),"Gout_u"));
    Hsys = syssetsignals(Hsys,"in",sysdefioname(length(Hin),"Hin_u"));
    Hsys = syssetsignals(Hsys,"out",sysdefioname(length(Hout),"Hout_u"));
    
    sys = sysgroup(Gsys,Hsys);
  
    eyin = eye(mg);
    eyout = eye(pg);
  
    sys = sysscale (sys, [eyout, -eyout], [eyin; eyin], Gout, Gin);
  
  else
    ## multiple systems (or a single system); combine together one by one
    sys = nth(arglist,1);
    for kk=2:length(arglist)
      sys = syssub(sys,nth(arglist,kk));
    endfor
  endif
  
endfunction