Mercurial > octave-nkf

--- a/doc/ChangeLog	Tue Jul 29 00:13:28 2008 -0400
+++ b/doc/ChangeLog	Sun Jul 27 01:42:06 2008 +0200
@@ -1,3 +1,9 @@
+2008-07-29  David Bateman  <dbateman@free.fr>
+
+	* control.txi, finance.txi, quaternion.txi: Delete.
+	* octave.texi: Remove all references to the above.
+	* Makefile.in: ditto.
+
 2008-07-28  David Bateman  <dbateman@free.fr>

 	* interpreter/arith.txi: Document reallog, realpow and realsqrt.
--- a/doc/interpreter/Makefile.in	Tue Jul 29 00:13:28 2008 -0400
+++ b/doc/interpreter/Makefile.in	Sun Jul 27 01:42:06 2008 +0200
@@ -94,13 +94,13 @@
 IMAGES = $(IMAGES_EPS) $(IMAGES_PDF) $(IMAGES_PNG) $(IMAGES_TXT)

 SUB_SOURCE := arith.txi audio.txi basics.txi bugs.txi \
-	container.txi control.txi cp-idx.txi data.txi \
+	container.txi cp-idx.txi data.txi \
 	debug.txi diffeq.txi dynamic.txi emacs.txi errors.txi eval.txi \
-	expr.txi finance.txi fn-idx.txi func.txi geometry.txi gpl.txi \
+	expr.txi fn-idx.txi func.txi geometry.txi gpl.txi \
 	grammar.txi image.txi install.txi interp.txi \
 	intro.txi io.txi linalg.txi matrix.txi nonlin.txi numbers.txi \
 	op-idx.txi optim.txi package.txi plot.txi poly.txi preface.txi \
-	quad.txi quaternion.txi set.txi signal.txi sparse.txi stats.txi \
+	quad.txi set.txi signal.txi sparse.txi stats.txi \
 	stmt.txi strings.txi system.txi testfun.txi tips.txi var.txi \
 	vr-idx.txi
--- a/doc/interpreter/control.txi	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,503 +0,0 @@
-@c Copyright (C) 1996, 1997, 2007 John W. Eaton
-@c
-@c This file is part of Octave.
-@c
-@c Octave is free software; you can redistribute it and/or modify it
-@c under the terms of the GNU General Public License as published by the
-@c Free Software Foundation; either version 3 of the License, or (at
-@c your option) any later version.
-@c
-@c Octave is distributed in the hope that it will be useful, but WITHOUT
-@c ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-@c FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
-@c for more details.
-@c
-@c You should have received a copy of the GNU General Public License
-@c along with Octave; see the file COPYING.  If not, see
-@c <http://www.gnu.org/licenses/>.
-
-@node Control Theory
-@chapter Control Theory
-
-The Octave Control Systems Toolbox (@acronym{OCST}) was initially developed
-by Dr.@: A. Scottedward Hodel
-@email{a.s.hodel@@eng.auburn.edu} with the assistance
-of his students
-@itemize @bullet
-@item R. Bruce Tenison @email{btenison@@dibbs.net},
-@item David C. Clem,
-@item John E. Ingram @email{John.Ingram@@sea.siemans.com}, and
-@item Kristi McGowan.
-@end itemize
-This development was supported in part by @acronym{NASA}'s Marshall Space Flight
-Center as part of an in-house @acronym{CACSD} environment.  Additional important
-contributions were made by Dr. Kai Mueller @email{mueller@@ifr.ing.tu-bs.de}
-and Jose Daniel Munoz Frias (@code{place.m}).
-
-An on-line menu-driven tutorial is available via @code{DEMOcontrol};
-beginning @acronym{OCST} users should start with this program.
-
-@DOCSTRING(DEMOcontrol)
-
-@menu
-* sysstruct::
-* sysinterface::
-* sysdisp::
-* blockdiag::
-* numerical::
-* sysprop::
-* systime::
-* sysfreq::
-* cacsd::
-* misc::
-@end menu
-
-@node sysstruct
-@section System Data Structure
-
-@menu
-* sysstructvars::
-* sysstructtf::
-* sysstructzp::
-* sysstructss::
-@end menu
-
-The @acronym{OCST} stores all dynamic systems in
-a single data structure format that can represent continuous systems,
-discrete-systems, and mixed (hybrid) systems in state-space form, and
-can also represent purely continuous/discrete systems in either
-transfer function or pole-zero form. In order to
-provide more flexibility in treatment of discrete/hybrid systems, the
-@acronym{OCST} also keeps a record of which system outputs are sampled.
-
-Octave structures are accessed with a syntax much like that used
-by the C programming language.  For consistency in
-use of the data structure used in the @acronym{OCST}, it is recommended that
-the system structure access m-files be used (@pxref{sysinterface}).
-Some elements of the data structure are absent depending on the internal
-system representation(s) used.  More than one system representation
-can be used for @acronym{SISO} systems; the @acronym{OCST} m-files ensure that all representations
-used are consistent with one another.
-
-@DOCSTRING(sysrepdemo)
-
-@node sysstructvars
-@subsection Variables common to all @acronym{OCST} system formats
-
-The data structure elements (and variable types) common to all  system
-representations are listed below; examples of the initialization
-and use of the system data structures are given in subsequent sections and
-in the online demo @code{DEMOcontrol}.
-@table @var
-@item n
-@itemx nz
-The respective number of continuous and discrete states
-in the system (scalar)
-
-@item inname
-@itemx outname
-list of name(s) of the system input, output signal(s). (list of strings)
-
-@item sys
-System status vector.  (vector)
-
-This vector indicates both what representation was used to initialize
-the system data structure (called the primary system type) and which
-other representations are currently up-to-date with the primary system
-type (@pxref{structaccess}).
-
-The value of the first element of the vector indicates the primary
-system type.
-
-@table @asis
-@item 0
-for tf form (initialized with @code{tf2sys} or @code{fir2sys})
-
-@item 1
-for zp form (initialized with @code{zp2sys})
-
-@item 2
-for ss form (initialized with @code{ss2sys})
-@end table
-
-The next three elements are boolean flags that indicate whether tf, zp,
-or ss, respectively, are ``up to date" (whether it is safe to use the
-variables associated with these representations).  These flags are
-changed when calls are made to the @code{sysupdate} command.
-
-@item tsam
- Discrete time sampling period  (nonnegative scalar).
- @var{tsam} is set to 0 for continuous time systems.
-
-@item yd
- Discrete-time output list (vector)
-
- indicates which outputs are discrete time (i.e.,
-    produced by D/A converters) and which are continuous time.
-    yd(ii) = 0 if output ii is continuous, = 1 if discrete.
-@end table
-
-The remaining variables of the  system data structure are only present
-if the corresponding entry of the @code{sys} vector is true (=1).
-
-@node sysstructtf
-@subsection @code{tf} format variables
-
-@table @var
-@item num
- numerator coefficients   (vector)
-
-@item den
- denominator coefficients   (vector)
-
-@end table
-
-@node sysstructzp
-@subsection @code{zp} format variables
-
-@table @var
-@item zer
- system zeros   (vector)
-
-@item pol
- system poles    (vector)
-
-@item k
- leading coefficient   (scalar)
-
-@end table
-
-@node sysstructss
-@subsection @code{ss} format variables
-
-@table @var
-@item a
-@itemx b
-@itemx c
-@itemx d
-The usual state-space matrices. If a system has both
-        continuous and discrete states, they are sorted so that
-        continuous states come first, then discrete states
-
-@strong{Note} some functions (e.g., @code{bode}, @code{hinfsyn})
-will not accept systems with both discrete and continuous states/outputs
-
-@item stname
-names of system states   (list of strings)
-
-@end table
-
-@node sysinterface
-@section System Construction and Interface Functions
-
-Construction and manipulations of the @acronym{OCST} system data structure
-(@pxref{sysstruct}) requires attention to many details in order
-to ensure that data structure contents remain consistent.  Users
-are strongly encouraged to use the system interface functions
-in this section.  Functions for the formatted display in of system
-data structures are given in @ref{sysdisp}.
-
-@menu
-* fir2sys::
-* ss2sys::
-* tf2sys::
-* zp2sys::
-* structaccess::
-@end menu
-
-@node fir2sys
-@subsection Finite impulse response system interface functions
-
-@DOCSTRING(fir2sys)
-
-@DOCSTRING(sys2fir)
-
-@node ss2sys
-@subsection State space system interface functions
-
-@DOCSTRING(ss)
-
-@DOCSTRING(ss2sys)
-
-@DOCSTRING(sys2ss)
-
-@node tf2sys
-@subsection Transfer function system interface functions
-
-@DOCSTRING(tf)
-
-@DOCSTRING(tf2sys)
-
-@DOCSTRING(sys2tf)
-
-@node zp2sys
-@subsection Zero-pole system interface functions
-
-@DOCSTRING(zp)
-
-@DOCSTRING(zp2sys)
-
-@DOCSTRING(sys2zp)
-
-@node structaccess
-@subsection Data structure access functions
-
-@DOCSTRING(syschnames)
-
-@DOCSTRING(syschtsam)
-
-@DOCSTRING(sysdimensions)
-
-@DOCSTRING(sysgetsignals)
-
-@DOCSTRING(sysgettype)
-
-@DOCSTRING(syssetsignals)
-
-@DOCSTRING(sysupdate)
-
-@DOCSTRING(minfo)
-
-@DOCSTRING(sysgettsam)
-
-@node sysdisp
-@section System display functions
-
-@DOCSTRING(sysout)
-
-@DOCSTRING(tfout)
-
-@DOCSTRING(zpout)
-
-@node blockdiag
-@section Block Diagram Manipulations
-
-@xref{systime}.
-
-Unless otherwise noted, all parameters (input,output) are
-system data structures.
-
-@DOCSTRING(bddemo)
-
-@DOCSTRING(buildssic)
-
-@DOCSTRING(jet707)
-
-@DOCSTRING(ord2)
-
-@DOCSTRING(sysadd)
-
-@DOCSTRING(sysappend)
-
-@DOCSTRING(sysconnect)
-
-@DOCSTRING(syscont)
-
-@DOCSTRING(sysdisc)
-
-@DOCSTRING(sysdup)
-
-@DOCSTRING(sysgroup)
-
-@DOCSTRING(sysmult)
-
-@DOCSTRING(sysprune)
-
-@DOCSTRING(sysreorder)
-
-@DOCSTRING(sysscale)
-
-@DOCSTRING(syssub)
-
-@DOCSTRING(ugain)
-
-@DOCSTRING(wgt1o)
-
-@DOCSTRING(parallel)
-
-@DOCSTRING(sysmin)
-
-@node numerical
-@section Numerical Functions
-
-@DOCSTRING(are)
-
-@DOCSTRING(dare)
-
-@DOCSTRING(dre)
-
-@DOCSTRING(dgram)
-
-@DOCSTRING(dlyap)
-
-@DOCSTRING(gram)
-
-@DOCSTRING(lyap)
-
-@DOCSTRING(qzval)
-
-@DOCSTRING(zgfmul)
-
-@DOCSTRING(zgfslv)
-
-@DOCSTRING(zginit)
-
-@DOCSTRING(zgreduce)
-
-@DOCSTRING(zgrownorm)
-
-@DOCSTRING(zgscal)
-
-@DOCSTRING(zgsgiv)
-
-@DOCSTRING(zgshsr)
-
-@strong{References}
-@table @strong
-@item  ZGEP
- Hodel, @cite{Computation of Zeros with Balancing}, 1992, Linear Algebra
- and its Applications
-@item @strong{Generalized CG}
- Golub and Van Loan, @cite{Matrix Computations, 2nd ed} 1989.
-@end table
-
-@node sysprop
-@section System Analysis-Properties
-
-@DOCSTRING(analdemo)
-
-@DOCSTRING(abcddim)
-
-@DOCSTRING(ctrb)
-
-@DOCSTRING(h2norm)
-
-@DOCSTRING(hinfnorm)
-
-@DOCSTRING(obsv)
-
-@DOCSTRING(pzmap)
-
-@DOCSTRING(is_abcd)
-
-@DOCSTRING(is_controllable)
-
-@DOCSTRING(is_detectable)
-
-@DOCSTRING(is_dgkf)
-
-@DOCSTRING(is_digital)
-
-@DOCSTRING(is_observable)
-
-@DOCSTRING(is_sample)
-
-@DOCSTRING(is_siso)
-
-@DOCSTRING(is_stabilizable)
-
-@DOCSTRING(is_signal_list)
-
-@DOCSTRING(is_stable)
-
-@node systime
-@section System Analysis-Time Domain
-
-@DOCSTRING(c2d)
-
-@DOCSTRING(d2c)
-
-@DOCSTRING(dmr2d)
-
-@DOCSTRING(damp)
-
-@DOCSTRING(dcgain)
-
-@DOCSTRING(impulse)
-
-@DOCSTRING(step)
-
-@node sysfreq
-@section System Analysis-Frequency Domain
-
-@strong{Demonstration/tutorial script}
-@DOCSTRING(frdemo)
-
-@DOCSTRING(bode)
-
-@DOCSTRING(bode_bounds)
-
-@DOCSTRING(freqchkw)
-
-@DOCSTRING(ltifr)
-
-@DOCSTRING(nyquist)
-
-@DOCSTRING(nichols)
-
-@DOCSTRING(tzero)
-
-@DOCSTRING(tzero2)
-
-@node cacsd
-@section Controller Design
-
-@DOCSTRING(dgkfdemo)
-
-@DOCSTRING(hinfdemo)
-
-@DOCSTRING(dlqe)
-
-@DOCSTRING(dlqr)
-
-@DOCSTRING(dkalman)
-
-@DOCSTRING(h2syn)
-
-@DOCSTRING(hinf_ctr)
-
-@DOCSTRING(hinfsyn)
-
-@DOCSTRING(hinfsyn_chk)
-
-@DOCSTRING(hinfsyn_ric)
-
-@DOCSTRING(lqe)
-
-@DOCSTRING(lqg)
-
-@DOCSTRING(lqr)
-
-@DOCSTRING(lsim)
-
-@DOCSTRING(place)
-
-@node misc
-@section Miscellaneous Functions (Not yet properly filed/documented)
-
-@DOCSTRING(axis2dlim)
-
-@DOCSTRING(moddemo)
-
-@DOCSTRING(prompt)
-
-@DOCSTRING(rldemo)
-
-@DOCSTRING(rlocus)
-
-@DOCSTRING(sortcom)
-
-@DOCSTRING(ss2tf)
-
-@DOCSTRING(ss2zp)
-
-@DOCSTRING(starp)
-
-@DOCSTRING(tf2ss)
-
-@DOCSTRING(tf2zp)
-
-@DOCSTRING(zp2ss)
-
-@DOCSTRING(zp2tf)
-
--- a/doc/interpreter/finance.txi	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,43 +0,0 @@
-@c Copyright (C) 1996, 1997, 2007 John W. Eaton
-@c
-@c This file is part of Octave.
-@c
-@c Octave is free software; you can redistribute it and/or modify it
-@c under the terms of the GNU General Public License as published by the
-@c Free Software Foundation; either version 3 of the License, or (at
-@c your option) any later version.
-@c
-@c Octave is distributed in the hope that it will be useful, but WITHOUT
-@c ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-@c FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
-@c for more details.
-@c
-@c You should have received a copy of the GNU General Public License
-@c along with Octave; see the file COPYING.  If not, see
-@c <http://www.gnu.org/licenses/>.
-
-@node Financial Functions
-@chapter Financial Functions
-@cindex financial functions
-@cindex money
-@cindex compounding, value of
-
-@DOCSTRING(fv)
-
-@DOCSTRING(fvl)
-
-@DOCSTRING(irr)
-
-@DOCSTRING(nper)
-
-@DOCSTRING(npv)
-
-@DOCSTRING(pmt)
-
-@DOCSTRING(pv)
-
-@DOCSTRING(pvl)
-
-@DOCSTRING(rate)
-
-@DOCSTRING(vol)
--- a/doc/interpreter/octave.texi	Tue Jul 29 00:13:28 2008 -0400
+++ b/doc/interpreter/octave.texi	Sun Jul 27 01:42:06 2008 +0200
@@ -170,16 +170,13 @@
 * Differential Equations::
 * Optimization::
 * Statistics::
-* Financial Functions::
 * Sets::
 * Polynomial Manipulations::
 * Interpolation::
 * Geometry::
-* Control Theory::
 * Signal Processing::
 * Image Processing::
 * Audio Processing::
-* Quaternions::
 * System Utilities::
 * Packages::
 * Dynamically Linked Functions::
@@ -481,34 +478,6 @@
 * Convex Hull::
 * Interpolation on Scattered Data::

-Control Theory
-
-* sysstruct::
-* sysinterface::
-* sysdisp::
-* blockdiag::
-* numerical::
-* sysprop::
-* systime::
-* sysfreq::
-* cacsd::
-* misc::
-
-System Data Structure
-
-* sysstructvars::
-* sysstructtf::
-* sysstructzp::
-* sysstructss::
-
-System Construction and Interface Functions
-
-* fir2sys::
-* ss2sys::
-* tf2sys::
-* zp2sys::
-* structaccess::
-
 Image Processing

 * Loading and Saving Images::
@@ -623,16 +592,13 @@
 @include diffeq.texi
 @include optim.texi
 @include stats.texi
-@include finance.texi
 @include set.texi
 @include poly.texi
 @include interp.texi
 @include geometry.texi
-@include control.texi
 @include signal.texi
 @include image.texi
 @include audio.texi
-@include quaternion.texi
 @include system.texi
 @include package.texi
--- a/doc/interpreter/quaternion.txi	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,48 +0,0 @@
-@c Copyright (C) 1996, 1997, 2000, 2002, 2007 John W. Eaton
-@c
-@c This file is part of Octave.
-@c
-@c Octave is free software; you can redistribute it and/or modify it
-@c under the terms of the GNU General Public License as published by the
-@c Free Software Foundation; either version 3 of the License, or (at
-@c your option) any later version.
-@c
-@c Octave is distributed in the hope that it will be useful, but WITHOUT
-@c ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-@c FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
-@c for more details.
-@c
-@c You should have received a copy of the GNU General Public License
-@c along with Octave; see the file COPYING.  If not, see
-@c <http://www.gnu.org/licenses/>.
-
-@node Quaternions
-@chapter Quaternions
-
-Quaternions are hypercomplex numbers used to represent spatial
-rotations in three dimensions.  This set of routines provides a useful
-basis for working with quaternions in Octave.  A tutorial is in the
-Octave source, scripts/quaternion/quaternion.ps.
-
-These functions were written by A. S. Hodel, Associate Professor,
-Auburn University.
-
-@DOCSTRING(quaternion)
-
-@DOCSTRING(qconj)
-
-@DOCSTRING(qderiv)
-
-@DOCSTRING(qderivmat)
-
-@DOCSTRING(qinv)
-
-@DOCSTRING(qmult)
-
-@DOCSTRING(qtrans)
-
-@DOCSTRING(qtransv)
-
-@DOCSTRING(qtransvmat)
-
-@DOCSTRING(qcoordinate_plot)
--- a/scripts/ChangeLog	Tue Jul 29 00:13:28 2008 -0400
+++ b/scripts/ChangeLog	Sun Jul 27 01:42:06 2008 +0200
@@ -1,3 +1,10 @@
+2008-07-29  David Bateman  <dbateman@free.fr>
+
+	* control, finance, quaternion: Remove directories and all of the
+	files they contain.
+	* Makefile.in: Remove all references to the above directories.
+	* configure.in: ditto.
+
 2008-07-28  Ben Abbott <bpabbott@mac.com>

 	* plot/hold.m: Clarify help text.
--- a/scripts/Makefile.in	Tue Jul 29 00:13:28 2008 -0400
+++ b/scripts/Makefile.in	Sun Jul 27 01:42:06 2008 +0200
@@ -42,9 +42,9 @@
 	configure.in configure mkinstalldirs mkdoc mkpkgadd gethelp.cc \
 	skip-autoheader move-if-change) DOCSTRINGS

-SUBDIRS = audio control deprecated elfun finance general geometry image io \
+SUBDIRS = audio deprecated elfun general geometry image io \
 	linear-algebra miscellaneous optimization path pkg plot polynomial \
-	quaternion set signal sparse specfun special-matrix startup \
+	set signal sparse specfun special-matrix startup \
 	statistics strings testfun time

 DISTSUBDIRS = $(SUBDIRS)
--- a/scripts/configure.in	Tue Jul 29 00:13:28 2008 -0400
+++ b/scripts/configure.in	Sun Jul 27 01:42:06 2008 +0200
@@ -28,14 +28,11 @@

 AC_PROG_INSTALL

-AC_CONFIG_FILES([Makefile audio/Makefile control/Makefile \
-	  control/base/Makefile control/hinf/Makefile \
-	  control/obsolete/Makefile control/system/Makefile \
-	  control/util/Makefile deprecated/Makefile elfun/Makefile \
-	  finance/Makefile general/Makefile geometry/Makefile image/Makefile \
+AC_CONFIG_FILES([Makefile audio/Makefile deprecated/Makefile elfun/Makefile \
+	  general/Makefile geometry/Makefile image/Makefile \
 	  io/Makefile linear-algebra/Makefile miscellaneous/Makefile \
 	  optimization/Makefile path/Makefile pkg/Makefile plot/Makefile \
-	  polynomial/Makefile quaternion/Makefile set/Makefile \
+	  polynomial/Makefile set/Makefile \
 	  signal/Makefile sparse/Makefile specfun/Makefile \
 	  special-matrix/Makefile startup/Makefile statistics/Makefile \
 	  statistics/base/Makefile statistics/distributions/Makefile \
--- a/scripts/control/MakeControlOct	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,94 +0,0 @@
-%.oct : %.cc $(OCT_LIBS) ocst.h
-	@echo "making $@ from $<"
-	mkoctfile $<  -locst -lm
-
-%.o : %.cc ocst.h
-	@echo "making $@ from $<"
-	mkoctfile $<
-	rm -f $*.oct
-
-OCT_FILES = abcddim.oct \
-	fir2sys.oct \
-	ss2sys.oct \
-	tf2sys.oct \
-	zp2sys.oct \
-	#sysout.oct \
-	zgsgiv.oct
-
-OCST_LIB = get_complex_vector.o  \
-	get_matrix.o \
-	get_real_scalar.o  \
-	get_string_matrix.o  \
-	get_string.o  \
-	get_vect.o \
-	pack.o \
-	sysdefioname.o \
-	sysdefstname.o
-
-OCT_LIBS=
-
-all: $(OCT_LIBS) $(OCT_FILES)
-	@echo ""
-	octave
-
-libocst.so: $(OCST_LIB)
-	gcc -fPIC -shared -R/opt/octave/lib -o libocst.so.1 $(OCST_LIB)
-	cp libocst.so.1 /opt/octave/lib
-	rm -f /opt/octave/lib/libocst.so
-	ln -s /opt/octave/lib/libocst.so.1 /opt/octave/lib/libocst.so
-	rm -f ./libocst.so
-	ln -s ./libocst.so.1 ./libocst.so
-
-ABCDDIM_DEP= abcddim.cc \
-	zero_matrix.o
-abcddim.oct: $(ABCDDIM_DEP) ocst.h
-	mkoctfile $(ABCDDIM_DEP)
-
-FIR2SYS_DEP= fir2sys.cc \
-	get_real_scalar.o \
-	get_string.o \
-	get_vector.o \
-	pack.o
-fir2sys.oct: $(FIR2SYS_DEP) ocst.h
-	mkoctfile $(FIR2SYS_DEP)
-
-SS2SYS_DEP= ss2sys.cc \
-	$(ABCDDIM_DEP) \
-	add_name.o \
-	get_matrix.o \
-	get_real_scalar.o \
-	get_string_matrix.o \
-	get_vector.o \
-	pack.o \
-	sysdefioname.o \
-	sysdefstname.o
-ss2sys.oct: $(SS2SYS_DEP) ocst.h
-	mkoctfile $(SS2SYS_DEP)
-
-SYSOUT_DEP= sysout.cc
-sysout.oct: $(SYSOUT_DEP) ocst.h
-	mkoctfile $(SYSOUT_DEP)
-
-TF2SYS_DEP= tf2sys.cc \
-	get_real_scalar.o \
-	get_string.o \
-	get_vector.o \
-	pack.o
-tf2sys.oct: $(TF2SYS_DEP) ocst.h
-	mkoctfile $(TF2SYS_DEP)
-
-ZGSGIV_DEP=zgsgiv.cc
-zgsgiv.oct: $(ZGSGIV_DEP) ocst.h
-	mkoctfile $(ZGSGIV_DEP)
-
-ZP2SYS_DEP= zp2sys.cc \
-	get_complex_vector.o \
-	get_real_scalar.o \
-	get_string.o \
-	pack.o
-zp2sys.oct: $(ZP2SYS_DEP) ocst.h
-	mkoctfile $(ZP2SYS_DEP)
-
-clean:
-	rm -f *.o *.oct *.a *.so *.so.1
-
--- a/scripts/control/Makefile.in	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,70 +0,0 @@
-# Makefile for octave's scripts/control directory
-#
-# Copyright (C) 1994, 1995, 1996, 1997, 2000, 2005, 2007 John W. Eaton
-#
-# 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 3 of the License, 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, see
-# <http://www.gnu.org/licenses/>.
-
-TOPDIR = ../..
-
-script_sub_dir = control
-
-srcdir = @srcdir@
-top_srcdir = @top_srcdir@
-VPATH = @srcdir@
-
-include $(TOPDIR)/Makeconf
-
-INSTALL = @INSTALL@
-INSTALL_PROGRAM = @INSTALL_PROGRAM@
-INSTALL_DATA = @INSTALL_DATA@
-
-SUBDIRS = base hinf obsolete system util
-
-DISTSUBDIRS = $(SUBDIRS)
-
-DISTFILES = $(srcdir)/Makefile.in
-
-all:
-.PHONY: all
-
-$(SUBDIRS):
-	$(MAKE) -C $@ all
-.PHONY: $(SUBDIRS)
-
-install install-strip uninstall clean mostlyclean distclean maintainer-clean::
-	@$(subdir-for-command)
-.PHONY: install install-strip uninstall
-.PHONY: clean mostlyclean distclean maintainer-clean
-
-tags TAGS:
-	$(subdir-for-command)
-
-distclean::
-	rm -f Makefile
-
-maintainer-clean::
-	rm -f tags TAGS Makefile
-
-dist:
-	ln $(DISTFILES) ../../`cat ../../.fname`/scripts/control
-	for dir in $(DISTSUBDIRS); do mkdir ../../`cat ../../.fname`/scripts/control/$$dir; $(MAKE) -C $$dir $@; done
-.PHONY: dist
-
-check-m-sources:
-	@$(do-check-m-sources)
-	@$(subdir-for-command)
-.PHONY: check-m-sources
--- a/scripts/control/OCSTreport	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,318 +0,0 @@
-
-###############################################################################
-#                                                                             #
-#  report                                                                     #
-#                                                                             #
-#  Lout setup file for technical reports.                                     #
-#                                                                             #
-#  Jeffrey H. Kingston                                                        #
-#  12 September 1994                                                          #
-#                                                                             #
-###############################################################################
-
-
-###############################################################################
-#                                                                             #
-#  @SysInclude commands for standard packages.                                #
-#                                                                             #
-###############################################################################
-
-  @SysInclude { fontdefs }			  # font definitions
-  @SysInclude { langdefs }			  # language definitions
-  @SysInclude { dl }				  # DocumentLayout package
-  @SysInclude { reportf }			  # ReportLayout extension
-  @SysInclude { tab }				  # @Tab table formatter
-# @SysInclude { eq }				  # @Eq equation formatter
-# @SysInclude { fig }				  # @Fig advanced graphics
-# @SysInclude { graph }				  # @Graph graph drawing
-# @SysInclude { cprint }			  # @CPrint C and C++ programs
-# @SysInclude { pas }				  # @Pas Pascal programs
-
-
-###############################################################################
-#                                                                             #
-#  @Include command for reading personal definitions from current directory.  #
-#                                                                             #
-###############################################################################
-
-  @Include { mydefs }
-
-
-###############################################################################
-#                                                                             #
-#  The @DocumentLayout @Use clause - overall document format options.         #
-#                                                                             #
-###############################################################################
-
-@Use { @DocumentLayout
-  # @InitialFont	{ Times Base 12p	} # initial font
-  # @InitialBreak	{ adjust 1.20fx hyphen	} # initial break
-  # @InitialSpace	{ lout			} # initial space style
-  # @InitialLanguage	{ English		} # initial language
-  # @InitialColour	{ black			} # initial colour
-  # @OptimizePages	{ No			} # optimize page breaks?
-  # @HeadingFont	{ Bold			} # font for @Heading
-  # @ParaGap		{ 1.30vx		} # gap between paragraphs
-  # @ParaIndent		{ 2.00f			} # first-line indent for @PP
-  # @DisplayGap		{ 1.00v			} # gap above, below displays
-  # @DisplayIndent	{ 2.00f			} # @IndentedDisplay indent
-  # @DefaultIndent	{ 0.5rt			} # @Display indent
-  # @DisplayNumStyle	{ (num)			} # style of display numbers
-  # @WideIndent		{ 4.00f			} # @WideTaggedList indent
-  # @VeryWideIndent	{ 8.00f			} # @VeryWideTaggedList indent
-  # @ListGap		{ 1.00v			} # gap between list items
-  # @ListIndent		{ 0c			} # indent of list items
-  # @ListRightIndent	{ 0c			} # right indent of list items
-  # @ListLabelWidth	{ 2.00f			} # width allowed for list tags
-  @PageType		{ A4			} # page type (width, height)
-  # @PageType		{ Letter		} # page type (width, height)
-  # @PageWidth		{			} # page width if type Other
-  # @PageHeight		{			} # page height if type Other
-  # @PageOrientation	{ Portrait		} # Portrait, Landscape, etc.
-  # @PageBackground	{  			} # background of each page
-  # @TopMargin		{ 2.50c			} # top margin of all pages
-  # @FootMargin		{ 2.50c			} # bottom margin of all pages
-  # @OddLeftMargin	{ 2.50c			} # left margin of odd pages
-  # @OddRightMargin	{ 2.50c			} # right margin of odd pages
-  # @EvenLeftMargin	{ 2.50c			} # left margin of even pages
-  # @EvenRightMargin	{ 2.50c			} # right margin of even pages
-  # @PageBoxType	{ None			} # None Box CurveBox ShadowBox
-  # @PageBoxMargin	{ 1.00c			} # page box margin
-  # @PageBoxLineWidth	{			} # page box line thickness
-  # @PageBoxPaint	{ none			} # page box paint
-  # @PageBoxShadow	{ 0.60c			} # shadow margin if ShadowBox
-  # @ColumnNumber	{ 1			} # number of columns (1 to 10)
-  # @ColumnGap		{ 1.00c			} # column gap
-  # @FigureLocation	{ PageTop		} # default figure location
-  # @TableLocation	{ PageTop		} # default table location
-  # @FigureWord		{ figure		} # "Figure" word else anything
-  # @TableWord		{ table			} # "Table" word else anything
-  # @FigureNumbers	{ Arabic		} # method of numbering figures
-  # @TableNumbers	{ Arabic		} # method of numbering tables
-  # @FigureCaptionPos	{ Below			} # Above or Below
-  # @TableCaptionPos	{ Below			} # Above or Below
-  # @CaptionFont        {                       } # figure, table caption font
-  # @CaptionBreak       {                       } # figure, table caption break
-  # @MakeFigureContents { No                    } # list of figures at start
-  # @MakeTableContents  { No                    } # list of tables at start
-  # @MakeContents	{ No			} # make contents? Yes or No
-  # @ContentsGap	{ 0.20v			} # extra gap above minor entry
-  # @ContentsGapAbove	{ 0.80v			} # extra gap above major entry
-  # @ContentsGapBelow	{ 0.00v			} # extra gap below major entry
-  # @ContentsLeader	{ ..			} # leader symbol in contents
-  # @ContentsLeaderGap	{ 4s			} # gap between leaders
-  # @ContentsRightWidth	{ 3f			} # page numbers column width
-  # @MakeReferences	{ Yes			} # make references? Yes or No
-  # @RefCiteStyle	{ [cite]		} # citation style
-  # @RefCiteLabels	{ @RefNum		} # citation items
-  # @RefNumbers		{ Arabic		} # reference numbers
-  # @RefListFormat	{ Labels		} # NoLabels, Labels, etc.
-  # @RefListLabels	{ [@RefNum]		} # ref list label format
-  # @RefListTitle	{ references		} # title of reference list
-  # @ChapRefListTitle	{ references		} # title of chapter ref list
-  # @RefListIndent	{ 0c			} # indent to left of labels
-  # @RefListRightIndent	{ 0c			} # indent to right of items
-  # @RefListGap		{ 1.00v			} # gap between ref list items
-  # @RefListFont	{        		} # font used in reference list
-  # @RefListBreak	{        		} # break style of ref list
-  # @RefListLabelWidth 	{ 2.00f			} # Labels column width
-  # @RefListSortKey	{ @Tag			} # sorting key
-  # @MakeIndex		{ No			} # make index? Yes or No
-  # @IndexFont		{			} # index entries font
-  # @IndexBreak		{ outdent 1.2fx		} # index entries break
-  # @IndexColumnNumber	{ 2			} # index columns (1 to 10)
-  # @IndexColumnGap	{ 1.00c			} # index column gap
-  # @MakeIndexA		{ No 			} # make index A? Yes or No
-  # @IndexAFont		{			} # index A entries font
-  # @IndexABreak	{ outdent 1.2fx		} # index A entries break
-  # @IndexAColumnNumber	{ 2			} # index A columns (1 to 10)
-  # @IndexAColumnGap	{ 1.00c			} # index A column gap
-  # @MakeIndexB		{ No 			} # make index B? Yes or No
-  # @IndexBFont		{			} # index B entries font
-  # @IndexBBreak	{ outdent 1.2fx		} # index B entries break
-  # @IndexBColumnNumber	{ 2			} # index B columns (1 to 10)
-  # @IndexBColumnGap	{ 1.00c			} # index B column gap
-  # @IndexFont		{			} # index entries font
-  # @IndexBreak		{ outdent 1.2fx		} # index entries break
-  # @IndexColumnNumber	{ 2			} # index columns (1 to 10)
-  # @IndexColumnGap	{ 1.00c			} # index column gap
-  # @TopGap		{ 0.75c			} # gap between figures
-  # @MidGap		{ 0.75c			} # gap above/below body text
-  # @FootNoteNumbers	{ Arabic		} # footnote numbers
-  # @FootNoteThrough	{ No			} # numbered through chapter?
-  # @FootNoteLocation	{ ColFoot		} # where the footnote appears
-  # @FootNoteFont	{ 0.80f			} # font for footnotes
-  # @FootNoteBreak	{ 1.20fx		} # break for footnotes
-  # @FootLen		{ 2.00c			} # length of footnote line
-  # @FootAboveGap	{ 1.00v			} # gap above footnote line
-  # @FootGap		{ 0.20c			} # gap between footnotes
-  # @EndNoteNumbers	{ Arabic		} # endnote numbers
-  # @EndNoteFont	{ 0.80f			} # font of endnotes
-  # @EndNoteBreak	{ 1.20fx		} # break for endnotes
-  # @EndNoteGap		{ 0.20c			} # gap between endnotes
-  # @TheoremThrough	{  No			} # numbered through whole doc?
-  # @TheoremNumbers	{  Arabic		} # theorem etc. numbers
-  # @DefinitionWord	{  definition		} # "Definition" word, etc.
-  # @LemmaWord		{  lemma		} # "Lemma" word, etc.
-  # @TheoremWord	{  theorem		} # "Theorem" word, etc.
-  # @PropositionWord	{  proposition		} # "Proposition" word, etc.
-  # @CorollaryWord	{  corollary		} # "Corollary" word, etc.
-  # @ExampleWord	{  example		} # "Example" word, etc.
-  # @ClaimWord		{  claim		} # "Claim" word, etc.
-  # @ProofWord		{  proof		} # "Proof" word, etc.
-  # @MarginNoteFont	{ 0.80f			} # font of margin notes
-  # @MarginNoteBreak	{ ragged 1.10fx		} # break style of margin notes
-  # @MarginNoteHGap	{ 0.5c   		} # horizontal gap to notes
-  # @MarginNoteVGap	{ 1.00v  		} # min vertical gap between
-  # @MarginNoteWidth	{ 1.50c  		} # width of margin notes
-  # @PageHeaders	{ Simple		} # None Simple Titles NoTitles
-  # @PageNumbers	{ Arabic		} # page numbers
-  # @FirstPageNumber	{ 1			} # number of first page
-  # @IntroPageNumbers	{ Roman			} # intro page numbers
-  # @IntroFirstPageNumber{ 1			} # number of first intro page
-
-  # @OddTop		{ @Centre{- @PageNum -}	} # Simple page headers
-  # @OddFoot		{ @Null			}
-  # @EvenTop		{ @Centre{- @PageNum -}	}
-  # @EvenFoot		{ @Null			}
-  # @StartOddTop	{ @Null			}
-  # @StartOddFoot	{ @Null			}
-  # @StartEvenTop	{ @Null			}
-  # @StartEvenFoot	{ @Null			}
-  # @IntroOddTop	{ @Null			}
-  # @IntroOddFoot	{ @Null			}
-  # @IntroEvenTop	{ @Null			}
-  # @IntroEvenFoot	{ @Null			}
-  # @IntroStartOddTop	{ @Null			}
-  # @IntroStartOddFoot	{ @Null			}
-  # @IntroStartEvenTop	{ @Null			}
-  # @IntroStartEvenFoot	{ @Null			}
-
-						  # Titles, NoTitles headers
-  # @RunningOddTop  { @I {@MinorNum @DotSep @MinorTitle} @Right @B @PageNum }
-  # @RunningOddFoot		{ @Null					}
-  # @RunningEvenTop { @B @PageNum @Right @I {@MajorNum @DotSep @MajorTitle} }
-  # @RunningEvenFoot		{ @Null					}
-  # @RunningStartOddTop 	{ @Null					}
-  # @RunningStartOddFoot	{ @Centre { Bold 0.8f } @Font @PageNum	}
-  # @RunningStartEvenTop	{ @Null					}
-  # @RunningStartEvenFoot	{ @Centre { Bold 0.8f } @Font @PageNum	}
-  # @RunningIntroOddTop		{ @Null					}
-  # @RunningIntroOddFoot	{ @Right @PageNum			}
-  # @RunningIntroEvenTop	{ @Null					}
-  # @RunningIntroEvenFoot	{ @PageNum				}
-  # @RunningIntroStartOddTop	{ @Null					}
-  # @RunningIntroStartOddFoot	{ @Null					}
-  # @RunningIntroStartEvenTop	{ @Null					}
-  # @RunningIntroStartEvenFoot	{ @Null					}
-}
-
-
-###############################################################################
-#                                                                             #
-#  The @ReportLayout @Use clause - options specific to technical reports.     #
-#                                                                             #
-###############################################################################
-
-@Use { @ReportLayout
-  # @CoverSheet			{ Yes			} # make cover sheet
-  # @DateLine			{ No			} # Yes, No, or a date
-  # @ReferencesBeforeAppendices	{ No			} # pos of ref list
-  # @AbstractWord		{ abstract		} # "Abstract" word etc.
-  # @ContentsWord		{ contents		} # "Contents" word etc.
-  # @AppendixWord		{ appendix		} # "Appendix" word etc.
-  # @IndexWord			{ index			} # "Index" word etc.
-  # @IndexAWord			{ index			} # "Index" word in index A
-  # @IndexBWord			{ index			} # "Index" word in index B
-  # @SectionNumbers		{ Arabic		} # section numbers
-  # @SubSectionNumbers		{ Arabic		} # subsection numbers
-  # @SubSubSectionNumbers	{ Arabic		} # sub-subsection numbers
-  # @AppendixNumbers		{ UCAlpha		} # appendix numbers
-  # @SubAppendixNumbers		{ Arabic		} # subappendix numbers
-  # @SubSubAppendixNumbers	{ Arabic		} # sub-subappendix numbers
-  # @AbstractHeadingFont	{ Bold			} # abstract heading font
-  # @AbstractHeadingBreak	{ ragged 1.2fx nohyphen	} # abstract heading break
-  # @AbstractHeadingFormat	{ title			} # abstract heading format
-  # @ContentsHeadingFont	{ Bold			} # contents heading font
-  # @ContentsHeadingBreak	{ ragged 1.2fx nohyphen	} # contents heading break
-  # @ContentsHeadingFormat	{ title			} # contents heading format
-  # @SectionHeadingFont		{ Bold			} # section heading font
-  # @SectionHeadingBreak	{ ragged 1.2fx nohyphen	} # section heading break
-  # @SectionHeadingFormat	{ number @DotSep title	} # section heading format
-  # @SubSectionHeadingFont	{ Bold			} # subsection heading font
-  # @SubSectionHeadingBreak	{ ragged 1.2fx nohyphen	} # subsection heading break
-  # @SubSectionHeadingFormat	{ number @DotSep title	} # subsection heading format
-  # @SubSubSectionHeadingFont	{ Slope			} # sub-subsection heading font
-  # @SubSubSectionHeadingBreak	{ ragged 1.2fx nohyphen	} # sub-subsection heading break
-  # @SubSubSectionHeadingFormat	{ number @DotSep title	} # sub-subsection heading format
-  # @AppendixHeadingFont	{ Bold			} # appendix heading font
-  # @AppendixHeadingBreak	{ ragged 1.2fx nohyphen	} # appendix heading break
-  # @AppendixHeadingFormat	{ number @DotSep title	} # appendix heading format
-  # @SubAppendixHeadingFont	{ Bold			} # subappendix heading font
-  # @SubAppendixHeadingBreak	{ ragged 1.2fx nohyphen	} # subappendix heading break
-  # @SubAppendixHeadingFormat	{ number @DotSep title	} # subappendix heading format
-  # @SubSubAppendixHeadingFont	{ Slope			} # sub-subapp. heading font
-  # @SubSubAppendixHeadingBreak	{ ragged 1.2fx nohyphen	} # sub-subappendix heading break
-  # @SubSubAppendixHeadingFormat{ number @DotSep title	} # sub-subappendix heading format
-  # @ReferencesHeadingFont	{ Bold			} # references heading font
-  # @ReferencesHeadingBreak	{ ragged 1.2fx nohyphen	} # references heading break
-  # @ReferencesHeadingFormat	{ title			} # references heading format
-  # @IndexHeadingFont		{ Bold			} # index heading font
-  # @IndexHeadingBreak		{ ragged 1.2fx nohyphen	} # index heading break
-  # @IndexHeadingFormat		{ title			} # index heading format
-  # @IndexAHeadingFont		{ Bold			} # index A heading font
-  # @IndexAHeadingBreak		{ ragged 1.2fx nohyphen	} # index A heading break
-  # @IndexAHeadingFormat	{ title			} # index A heading format
-  # @IndexBHeadingFont		{ Bold			} # index B heading font
-  # @IndexBHeadingBreak		{ ragged 1.2fx nohyphen	} # index B heading break
-  # @IndexBHeadingFormat	{ title			} # index B heading format
-  # @SectionGap			{ 2.00v			} # gap between sections
-  # @SubSectionGap		{ 1.50v			} # gap between subsections
-  # @SubSubSectionGap		{ 1.50v			} # gap between sub-subsections
-  # @AppendixGap		{ 2.00v			} # gap between appendices
-  # @SubAppendixGap		{ 1.50v			} # gap between subappendices
-  # @SubSubAppendixGap		{ 1.50v			} # gap between sub-subapps
-  # @SectionInContents		{ Yes			} # list sections in contents
-  # @SubSectionInContents	{ Yes			} # list subsections
-  # @SubSubSectionInContents	{ No			} # list sub-subsections
-  # @AppendixInContents		{ Yes			} # list appendices
-  # @SubAppendixInContents	{ Yes			} # list subappendices
-  # @SubSubAppendixInContents	{ No			} # list sub-subappendices
-  # @ReferencesInContents	{ Yes			} # list references
-  # @IndexInContents		{ Yes			} # list index in contents
-  # @IndexAInContents		{ Yes			} # list index A
-  # @IndexBInContents		{ Yes			} # list index B
-  # @SectionNumInTheorems	{ No			} # section numbers in theorems
-  # @SubSectionNumInTheorems	{ No			} # subsection numbers in theorems
-  # @SubSubSectionNumInTheorems	{ No			} # sub-subsection numbers in theorems
-  # @AppendixNumInTheorems	{ No			} # appendix numbers in theorems
-  # @SubAppendixNumInTheorems	{ No			} # subappendix numbers in theorems
-  # @SubSubAppendixNumInTheorems{ No			} # sub-subappendix nums. in theorems
-  # @SectionNumInDisplays	{ Yes			} # section numbers in displays
-  # @SubSectionNumInDisplays	{ No			} # subsection numbers in displays
-  # @SubSubSectionNumInDisplays	{ No			} # sub-subsection numbers in displays
-  # @AppendixNumInDisplays	{ Yes			} # appendix numbers in displays
-  # @SubAppendixNumInDisplays	{ No			} # subappendix numbers in displays
-  # @SubSubAppendixNumInDisplays{ No			} # sub-subappendix nums in displays
-  # @SectionNumInFigures	{ Yes			} # section number in figures
-  # @SubSectionNumInFigures	{ No			} # subsection number in figures
-  # @SubSubSectionNumInFigures	{ No			} # subsubsection number in figures
-  # @AppendixNumInFigures	{ Yes			} # appendix number in figures
-  # @SubAppendixNumInFigures	{ No			} # subappendix number in figures
-  # @SubSubAppendixNumInFigures	{ No			} # sub-subappendix number in figures
-  # @SectionNumInTables		{ Yes			} # section number in tables
-  # @SubSectionNumInTables	{ No			} # subsection number in tables
-  # @SubSubSectionNumInTables	{ No			} # subsubsection number in tables
-  # @AppendixNumInTables	{ Yes			} # appendix number in tables
-  # @SubAppendixNumInTables	{ No			} # subappendix number in tables
-  # @SubSubAppendixNumInTables	{ No			} # sub-subappendix number in tables
-}
-
-
-###############################################################################
-#                                                                             #
-#  @Database (and @SysDatabase) clauses go here.                              #
-#                                                                             #
-###############################################################################
-
-@SysDatabase @RefStyle { refstyle }		  # reference printing styles
--- a/scripts/control/base/DEMOcontrol.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,80 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} DEMOcontrol
-## Octave Control Systems Toolbox demo/tutorial program.  The demo
-## allows the user to select among several categories of @acronym{OCST} function:
-## @example
-## @group
-## octave:1> DEMOcontrol
-## Octave Controls System Toolbox Demo
-##
-##   [ 1] System representation
-##   [ 2] Block diagram manipulations
-##   [ 3] Frequency response functions
-##   [ 4] State space analysis functions
-##   [ 5] Root locus functions
-##   [ 6] LQG/H2/Hinfinity functions
-##   [ 7] End
-## @end group
-## @end example
-## Command examples are interactively run for users to observe the use
-## of @acronym{OCST} functions.
-## @seealso{Demo Programs: bddemo.m, frdemo.m, analdemo.m,
-## moddmeo.m, rldemo.m}
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 15, 1994
-
-function DEMOcontrol ()
-
-  while (1)
-
-    clc ();
-
-    k = 0;
-
-    while (k > 8 || k < 1),
-      k = menu ("Octave Controls System Toolbox Demo",
-                "System representation",
-                "Block diagram manipulations",
-                "Frequency response functions",
-                "State space analysis functions",
-                "System model manipulations",
-                "Root locus functions",
-                "LQG/H2/Hinfinity functions",
-                "End");
-    endwhile
-
-    switch (k)
-      case (1) sysrepdemo ();
-      case (2) bddemo ();
-      case (3) frdemo ();
-      case (4) analdemo ();
-      case (5) moddemo ();
-      case (6) rldemo ();
-      case (7) dgkfdemo ();
-      case (8) return;
-    endswitch
-
-  endwhile
-
-endfunction
--- a/scripts/control/base/Makefile.in	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,89 +0,0 @@
-# Makefile for octave's scripts/control/base directory
-#
-# Copyright (C) 2000, 2002, 2005, 2006, 2007 John W. Eaton
-#
-# 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 3 of the License, 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, see
-# <http://www.gnu.org/licenses/>.
-
-TOPDIR = ../../..
-
-script_sub_dir = control/base
-
-srcdir = @srcdir@
-top_srcdir = @top_srcdir@
-VPATH = @srcdir@
-
-include $(TOPDIR)/Makeconf
-
-INSTALL = @INSTALL@
-INSTALL_PROGRAM = @INSTALL_PROGRAM@
-INSTALL_DATA = @INSTALL_DATA@
-
-SOURCES = DEMOcontrol.m __bodquist__.m __freqresp__.m \
-  __stepimp__.m analdemo.m are.m bddemo.m bode.m bode_bounds.m \
-  controldemo.m ctrb.m damp.m dare.m dcgain.m dgram.m dkalman.m \
-  dlqe.m dlqr.m dlyap.m dre.m frdemo.m freqchkw.m gram.m \
-  impulse.m lqe.m lqg.m lqr.m lsim.m ltifr.m lyap.m nichols.m \
-  nyquist.m obsv.m place.m pzmap.m rldemo.m rlocus.m step.m \
-  tzero.m tzero2.m
-
-DISTFILES = $(addprefix $(srcdir)/, Makefile.in $(SOURCES))
-
-FCN_FILES = $(addprefix $(srcdir)/, $(SOURCES))
-FCN_FILES_NO_DIR = $(notdir $(FCN_FILES))
-
-all: PKG_ADD
-.PHONY: all
-
-install install-strip:
-	$(do-script-install)
-.PHONY: install install-strip
-
-uninstall:
-	$(do-script-uninstall)
-.PHONY: uninstall
-
-clean:
-.PHONY: clean
-
-PKG_ADD: $(FCN_FILES)
-	@echo "making PKG_ADD"
-	@$(do-mkpkgadd)
-
-tags: $(SOURCES)
-	ctags $(SOURCES)
-
-TAGS: $(SOURCES)
-	etags $(SOURCES)
-
-mostlyclean: clean
-.PHONY: mostlyclean
-
-distclean: clean
-	rm -f Makefile PKG_ADD
-.PHONY: distclean
-
-maintainer-clean: distclean
-	rm -f tags TAGS
-.PHONY: maintainer-clean
-
-dist:
-	ln $(DISTFILES) ../../../`cat ../../../.fname`/scripts/$(script_sub_dir)
-.PHONY: dist
-
-check-m-sources:
-	@$(do-check-m-sources)
-.PHONY: check-m-sources
--- a/scripts/control/base/__bodquist__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,171 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{f}, @var{w}, @var{rsys}] =} __bodquist__ (@var{sys}, @var{w}, @var{out_idx}, @var{in_idx})
-## Used internally by @command{bode}, @command{nyquist}; compute system frequency response.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## input system structure
-## @item w
-## range of frequencies; empty if user wants default
-## @item out_idx
-## @itemx in_idx
-## names or indices of output/input signal names; empty if user wants all
-## @item rname
-## name of routine that called __bodquist__ ("bode", "nyquist", or "nichols")
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item w
-## list of frequencies
-## @item f
-## frequency response of sys; @math{f(ii) = f(omega(ii))}
-## @item rsys
-## system with selected inputs and outputs
-## @end table
-##
-## @code{bode}, @code{nichols}, and @code{nyquist} share the same
-## introduction, so the common parts are
-## in __bodquist__.  It contains the part that finds the number of arguments,
-## determines whether or not the system is @acronym{SISO}, and computes the frequency
-## response.  Only the way the response is plotted is different between the
-## these functions.
-## @end deftypefn
-
-function [f, w, rsys] = __bodquist__ (sys, w, outputs, inputs, rname)
-
-  ## check number of input arguments given
-  if (nargin != 5)
-    print_usage ();
-  endif
-
-  ## check each argument to see if it's in the correct form
-  if (! isstruct (sys))
-    error ("sys must be a system data structure");
-  endif
-
-  ## let __freqresp__ determine w if it's not already given
-  USEW = freqchkw (w);
-
-  ## get initial dimensions (revised below if sysprune is called)
-  [nn, nz, mm, pp] = sysdimensions (sys);
-
-  ## check for an output vector and to see whether it`s correct
-  if (! isempty (outputs))
-    if (isempty (inputs))
-      inputs = 1:mm;                    # use all inputs
-      warning ("%s: outputs specified but not inputs", rname);
-    elseif (is_signal_list (inputs) || ischar (inputs))
-      inputs = sysidx (sys, "in", inputs);
-    endif
-    if (is_signal_list (outputs) || ischar (outputs))
-      outputs = sysidx (sys, "out", outputs);
-    endif
-    sys = sysprune (sys, outputs, inputs);
-    [nn, nz, mm, pp] = sysdimensions (sys);
-  endif
-
-  ## for speed in computation, convert local copy of
-  ## SISO state space systems to zero-pole  form
-  if (is_siso (sys) && strcmp (sysgettype (sys), "ss"))
-    [zer, pol, k, tsam, inname, outname] = sys2zp (sys);
-    sys = zp (zer, pol, k, tsam, inname, outname);
-  endif
-
-  ## get system frequency response
-  [f, w] = __freqresp__ (sys, USEW, w);
-
-  phase = arg(f)*180.0/pi;
-
-  if (! USEW)
-    ## smooth plots
-    pcnt = 5;           # max number of refinement steps
-    dphase = 5;         # desired max change in phase
-    dmag = 0.2;         # desired max change in magnitude
-    while (pcnt)
-      pd = abs (diff (phase));                    # phase variation
-      pdbig = find (pd > dphase);
-
-      ## relative variation
-      lp = length (f);
-      lp1 = lp-1;
-
-      fd = abs (diff (f));
-      fm = max (abs ([f(1:lp1); f(2:lp)]));
-      fdbig = find (fd > fm/10);
-
-      bigpts = union (fdbig, pdbig);
-
-      if (isempty (bigpts))
-        pcnt = 0;
-      else
-        pcnt = pcnt - 1;
-        wnew = [];
-        crossover_points = find (phase(1:lp1).*phase(2:lp) < 0);
-        pd(crossover_points) = abs (359.99+dphase - pd(crossover_points));
-        np_pts = max (3, ceil(pd/dphase)+2);              # phase points
-        nm_pts = max (3, ceil(log(fd./fm)/log(dmag))+2);  # magnitude points
-        npts = min (5, max(np_pts, nm_pts));
-
-        w1 = log10 (w(1:lp1));
-        w2 = log10 (w(2:lp));
-        for ii = bigpts
-          if (npts(ii))
-            wtmp = logspace (w1(ii), w2(ii), npts(ii));
-            wseg(ii,1:(npts(ii)-2)) = wtmp(2:(npts(ii)-1));
-          endif
-        endfor
-        wnew = vec(wseg)'; # make a row vector
-        wnew = wnew(find (wnew != 0));
-        wnew = sort (wnew);
-        wnew = create_set (wnew);
-        if (isempty (wnew))   # all small crossovers
-          pcnt = 0;
-        else
-	  ## get new freq resp points, combine with old, and sort.
-          [fnew, wnew] = __freqresp__ (sys, 1, wnew);
-          w = [w, wnew];
-          f = [f, fnew];
-          [w, idx] = sort (w);
-          f = f (idx);
-          phase = arg(f)*180.0/pi;
-        endif
-      endif
-    endwhile
-  endif
-
-  ## ensure unique frequency values
-  [w, idx] = sort (w);
-  f = f(idx);
-
-  w_diff = diff (w);
-  w_dup = find (w_diff == 0);
-  w_idx = complement (w_dup, 1:length(w));
-  w = w(w_idx);
-  f = f(w_idx);
-
-  ## set rsys to pruned system
-  rsys = sys;
-
-endfunction
--- a/scripts/control/base/__freqresp__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,129 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} __freqresp__ (@var{sys}, @var{USEW}, @var{w})
-## Frequency response function - used internally by @command{bode}, @command{nyquist}.
-## minimal argument checking; ``do not attempt to do this at home''.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## system data structure
-## @item USEW
-## returned by @code{freqchkw}
-## @item optional
-## must be present if @var{USEW} is true (nonzero)
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item @var{out}
-## vector of finite @math{G(j*w)} entries (or @math{||G(j*w)||} for @acronym{MIMO})
-## @item w
-## vector of corresponding frequencies
-## @end table
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: July 11, 1994
-
-function [ff, w] = __freqresp__ (sys, USEW, w);
-
-  ## SYS_INTERNAL accesses members of system data structure
-
-  ## Check Args
-  if (nargin < 2 || nargin > 4)
-    print_usage ();
-  elseif (USEW && nargin < 3)
-    error ("USEW = 1 but w was not passed.");
-  elseif (USEW && isempty (w))
-    warning ("USEW = 1 but w is empty; setting USEW=0");
-    USEW = 0;
-  endif
-
-  DIGITAL = is_digital (sys);
-
-  ## compute default w if needed
-  if (! USEW)
-    if (is_siso (sys))
-      sys = sysupdate (sys, "zp");
-      [zer, pol] = sys2zp (sys);
-    else
-      zer = tzero (sys);
-      pol = eig (sys2ss (sys));
-    endif
-
-    ## get default frequency range
-    [wmin, wmax] = bode_bounds (zer, pol, DIGITAL, sysgettsam (sys));
-    w = logspace (wmin, wmax, 50);
-  else
-    w = reshape (w, 1, length (w));         # make sure it's a row vector
-  endif
-
-  ## now get complex values of s or z
-  if (DIGITAL)
-    jw = exp (i*w*sysgettsam(sys));
-  else
-    jw = i*w;
-  endif
-
-  [nn, nz, mm, pp] = sysdimensions (sys);
-
-  ## now compute the frequency response - divide by zero yields a warning
-  if (strcmp (sysgettype (sys), "zp"))
-    ## zero-pole form (preferred)
-    [zer, pol, sysk] = sys2zp (sys);
-    ff = ones (size (jw));
-    l1 = min (length(zer)*(1-isempty(zer)), length(pol)*(1-isempty(pol)));
-    for ii = 1:l1
-      ff = ff .* (jw - zer(ii)) ./ (jw - pol(ii));
-    endfor
-
-    ## require proper  transfer function, so now just get poles.
-    for ii = (l1+1):length(pol)
-	ff = ff ./ (jw - pol(ii));
-    endfor
-    ff = ff*sysk;
-  elseif (strcmp (sysgettype (sys), "tf"))
-    ## transfer function form
-    [num, den] = sys2tf (sys);
-    ff = polyval (num, jw) ./ polyval (den, jw);
-  elseif (mm==pp)
-    ## The system is square; do state-space form bode plot
-    [sysa, sysb, sysc, sysd, tsam, sysn, sysnz] = sys2ss (sys);
-    n = sysn + sysnz;
-    for ii = 1:length(jw);
-	ff(ii) = det (sysc*((jw(ii).*eye(n)-sysa)\sysb)+sysd);
-    endfor
-  else
-    ## Must be state space... bode
-    [sysa, sysb, sysc, sysd, tsam, sysn, sysnz] = sys2ss (sys);
-    n = sysn + sysnz;
-    for ii = 1:length(jw);
-      ff(ii) = norm (sysc*((jw(ii)*eye(n)-sysa)\sysb)+sysd);
-    endfor
-  endif
-
-  w = reshape (w, 1, length (w));
-  ff = reshape (ff, 1, length (ff));
-
-endfunction
-
--- a/scripts/control/base/__stepimp__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,276 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{y}, @var{t}] =} __stepimp__ (@var{sitype}, @var{sys} [, @var{inp}, @var{tstop}, @var{n}])
-## Impulse or step response for a linear system.
-## The system can be discrete or multivariable (or both).
-## This m-file contains the ``common code'' of step and impulse.
-##
-## Produces a plot or the response data for system @var{sys}.
-##
-## Limited argument checking; ``do not attempt to do this at home''.
-## Used internally in @command{impulse}, @command{step}. Use @command{step}
-## or @command{impulse} instead.
-## @seealso{step, impulse}
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: October 2, 1997
-## based on lsim.m of Scottedward Hodel
-
-function [y, t] = __stepimp__ (sitype, sys, inp, tstop, n)
-
-  if (sitype == 1)
-    IMPULSE = 0;
-  elseif (sitype == 2)
-    IMPULSE = 1;
-  else
-    error ("__stepimp__: invalid sitype argument");
-  endif
-  sys = sysupdate (sys, "ss");
-
-  USE_DEF = 0;   # default tstop and n if we have to give up
-  N_MIN = 50;    # minimum number of points
-  N_MAX = 2000;  # maximum number of points
-  T_DEF = 10.0;  # default simulation time
-
-  ## collect useful information about the system
-  [ncstates, ndstates, NIN, NOUT] = sysdimensions (sys);
-  TSAMPLE = sysgettsam (sys);
-
-  if (nargin < 3)
-    inp = 1;
-  elseif (inp < 1 || inp > NIN)
-    error ("__stepimp__: argument inp out of range");
-  endif
-
-  DIGITAL = is_digital (sys);
-  if (DIGITAL)
-    NSTATES = ndstates;
-    if (isa (TSAMPLE, "single") && TSAMPLE < eps ("single") ||
-	!isa (TSAMPLE, "single") && TSAMPLE < eps)
-      error ("__stepimp__: sampling time of discrete system too small")
-    endif
-  else
-    NSTATES = ncstates;
-  endif
-  if (NSTATES < 1)
-    error ("__stepimp__: pure gain block (n_states < 1), step response is trivial");
-  endif
-  if (nargin < 5)
-    ## we have to compute the time when the system reaches steady state
-    ## and the step size
-    ev = eig (sys2ss (sys));
-    if (DIGITAL)
-      ## perform bilinear transformation on poles in z
-      for i = 1:NSTATES
-        pole = ev(i);
-        if (abs(pole + 1) < 1.0e-10)
-          ev(i) = 0;
-        else
-          ev(i) = 2 / TSAMPLE * (pole - 1) / (pole + 1);
-        endif
-      endfor
-    endif
-    ## remove poles near zero from eigenvalue array ev
-    nk = NSTATES;
-    for i = 1:NSTATES
-      if (abs (real (ev(i))) < 1.0e-10)
-        ev(i) = 0;
-        nk = nk - 1;
-      endif
-    endfor
-    if (nk == 0)
-      USE_DEF = 1;
-      ## printf("##STEPIMP-DEBUG: using defaults.\n");
-    else
-      ev = ev(find (ev));
-      x = max (abs (ev));
-      t_step = 0.2 * pi / x;
-      x = min (abs (real (ev)));
-      t_sim = 5.0 / x;
-      ## round up
-      yy = 10^(ceil (log10 (t_sim)) - 1);
-      t_sim = yy * ceil (t_sim / yy);
-      ## printf("##STEPIMP-DEBUG: nk=%d   t_step=%f  t_sim=%f\n",
-      ##   nk, t_step, t_sim);
-    endif
-  endif
-
-  if (DIGITAL)
-    ## ---- sampled system
-    if (nargin == 5)
-      n = round (n);
-      if (n < 2)
-        error ("__stepimp__: n must not be less than 2.")
-      endif
-    else
-      if (nargin == 4)
-        ## n is unknown
-      elseif (nargin >= 1)
-        ## tstop and n are unknown
-        if (USE_DEF)
-          tstop = (N_MIN - 1) * TSAMPLE;
-        else
-          tstop = t_sim;
-        endif
-      endif
-      n = floor (tstop / TSAMPLE) + 1;
-      if (n < 2)
-	n = 2;
-      endif
-      if (n > N_MAX)
-        n = N_MAX;
-        printf ("Hint: number of samples limited to %d by default.\n", \
-		N_MAX);
-        printf ("  ==> increase \"n\" parameter for longer simulations.\n");
-      endif
-    endif
-    tstop = (n - 1) * TSAMPLE;
-    t_step = TSAMPLE;
-  else
-    ## ---- continuous system
-    if (nargin == 5)
-      n = round (n);
-      if (n < 2)
-        error("step: n must not be less than 2.")
-      endif
-      t_step = tstop / (n - 1);
-    else
-      if (nargin == 4)
-        ## only n in unknown
-        if (USE_DEF)
-          n = N_MIN;
-          t_step = tstop / (n - 1);
-        else
-          n = floor (tstop / t_step) + 1;
-        endif
-      else
-        ## tstop and n are unknown
-        if (USE_DEF)
-          tstop = T_DEF;
-          n = N_MIN;
-          t_step = tstop / (n - 1);
-        else
-          tstop = t_sim;
-          n = floor (tstop / t_step) + 1;
-        endif
-      endif
-      if (n < N_MIN)
-        n = N_MIN;
-        t_step = tstop / (n - 1);
-      endif
-      if (n > N_MAX)
-        tstop = (n - 1) * t_step;
-        t_step = tstop / (N_MAX - 1);
-        n = N_MAX;
-      endif
-    endif
-    tstop = (n - 1) * t_step;
-    [jnk,B] = sys2ss (sys);
-    B = B(:,inp);
-    sys = c2d (sys, t_step);
-  endif
-  ## printf("##STEPIMP-DEBUG: t_step=%f n=%d  tstop=%f\n", t_step, n, tstop);
-
-  F = sys.a;
-  G = sys.b(:,inp);
-  C = sys.c;
-  D = sys.d(:,inp);
-  y = zeros (NOUT, n);
-  t = linspace (0, tstop, n);
-
-  if (IMPULSE)
-    if (! DIGITAL && D'*D > 0)
-      error ("impulse: D matrix is nonzero, impulse response infinite.")
-    endif
-    if (DIGITAL)
-      y(:,1) = D / t_step;
-      x = G / t_step;
-    else
-      x = B;
-      y(:,1) = C * x;
-      x = F * x;
-    endif
-    for i = 2:n
-      y(:,i) = C * x;
-      x = F * x;
-    endfor
-    if (DIGITAL)
-      y *= t_step;
-    endif
-  else
-    x = zeros (NSTATES, 1);
-    for i = 1:n
-      y(:,i) = C * x + D;
-      x = F * x + G;
-    endfor
-  endif
-
-  if (nargout == 0)
-    if (IMPULSE)
-      gm = zeros (NOUT, 1);
-      tt = "impulse";
-    else
-      ssys = ss (F, G, C, D, t_step);
-      gm = dcgain (ssys);
-      tt = "step";
-    endif
-    ncols = floor (sqrt (NOUT));
-    nrows = ceil (NOUT / ncols);
-    for i = 1:NOUT
-      if (nrows > 1 || ncols > 1)
-	subplot (nrows, ncols, i);
-      endif
-      if (DIGITAL)
-	[ts, ys] = stairs (t, y(i,:));
-	ts = ts(1:2*n-2)';
-	ys = ys(1:2*n-2)';
-	if (length (gm) > 0)
-	  yy = [ys; gm(i)*ones(size(ts))];
-	else
-	  yy = ys;
-	endif
-	plot (ts, yy);
-	grid ("on");
-	xlabel ("time [s]");
-	ylabel ("y(t)");
-      else
-	if (length (gm) > 0)
-	  yy = [y(i,:); gm(i)*ones(size(t))];
-	else
-	  yy = y(i,:);
-	endif
-	plot (t, yy);
-	grid ("on");
-	xlabel ("time [s]");
-	ylabel ("y(t)");
-      endif
-      title (sprintf ("%s: | %s -> %s", tt,
-		      sysgetsignals (sys, "in", inp, 1),
-		      sysgetsignals (sys, "out", i, 1)));
-    endfor
-    y = [];
-    t = [];
-  endif
-
-endfunction
--- a/scripts/control/base/analdemo.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,244 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} analdemo ()
-## Octave Controls toolbox demo: State Space analysis demo
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 15, 1994
-## Updated by John Ingram December 1996
-
-function analdemo ()
-
-  while (1)
-    clc
-    k=0;
-    while(k > 8 || k < 1)
-      k = menu("Octave State Space Analysis Demo", ...
-        "System gramians (gram, dgram)", ...
-        "System zeros (tzero)", ...
-        "Continuous => Discrete and Discrete => Continuous conversions (c2d,d2c)", ...
-        "Algebraic Riccati Equation (are, dare)", ...
-        "Balanced realizations (balreal, dbalreal)", ...
-        "Open loop truncations via Hankel singular values (balreal, dbalreal)", ...
-        "SISO pole placement", ...
-        "Return to main demo menu");
-    endwhile
-    if (k == 1)
-      clc
-      help dgram
-      prompt
-
-      clc
-      disp("System Gramians: (see Moore, IEEE T-AC, 1981) \n");
-      disp("Example #1, consider the discrete time state space system:\n");
-      a=[1, 5, -8.4; 1.2, -3, 5; 1, 7, 9]
-      b=[1, 5; 2, 6; -4.4, 5]
-      c=[1, -1.5, 2; 6, -9.8, 1]
-      d=0
-      prompt
-      disp("\nThe discrete controllability gramian is computed as follows:");
-      cmd = "gramian = dgram(a, b);";
-      run_cmd;
-      disp("Results:\n");
-      gramian = dgram(a,b)
-      disp("Variable Description:\n");
-      disp("gramian => discrete controllability gramian");
-      disp("a, b => a and b matrices of discrete time system\n");
-      disp("A dual approach may be used to compute the observability gramian.");
-      prompt
-      clc
-
-      help gram
-      prompt
-      clc
-
-      disp("Example #2, consider the continuous state space system:\n");
-      a=[1, 3, -10.2; 3.7, -2, 9; 1, 3, 7]
-      b=[1, 12; 6, 2; -3.8, 7]
-      c=[1, -1.1, 7; 3, -9.8, 2]
-      d=0
-      prompt
-      disp("\nThe continuous controllability gramian is computed as follows:");
-      cmd = "gramian = gram(a, b);";
-      run_cmd;
-      disp("Results:\n");
-      gramian = gram(a,b)
-      disp("Variable Description:\n");
-      disp("gramian => continuous controllability gramian");
-      disp("a, b => a and b matrices of continuous time system\n");
-      disp("A dual approach may be used to compute the observability gramian.");
-      prompt
-      clc
-
-
-    elseif (k == 2)
-      clc
-      help tzero
-      prompt
-
-      disp("System zeros (tzero) example\n");
-      disp("Example #1, consider the state space system:\n");
-      a=[0, 1, 0; -10, -2, 0; -10, 0, -8]
-      b=[0; 1; 9]
-      c=[-10, 0, -4]
-      d=1
-      prompt
-      disp("\nTo compute the zeros of this system, enter the following command:\n");
-      cmd = "zer = tzero(a,b,c,d);";
-      run_cmd;
-      disp("Results:\n");
-      zer = tzero(a,b,c,d)
-      disp("Variable Description:\n");
-      disp("zer => zeros of state space system");
-      disp("a, b, c, d => state space system used as input argument");
-      prompt
-      clc
-
-      disp("Example #2, consider the state space system from example 1 again:");
-      cmd = "sys = ss(a,b,c,d);";
-      disp(cmd);
-      eval(cmd);
-      sysout(sys);
-      disp("\nThe zeros of this system can also be calculated directly from the");
-      disp("system variable:");
-      cmd = "zer = tzero(sys);";
-      run_cmd;
-      disp("Results:\n")
-      zer = tzero(sys)
-      disp("Variable Description:\n");
-      disp("zer => zeros of state space system");
-      disp("sys => state space system used as input argument");
-      prompt
-      clc
-
-    elseif (k == 3)
-      clc
-      help c2d
-      prompt
-
-      clc
-      disp("Continuous => Discrete and Discrete => Continuous conversions (c2d,d2c)");
-      disp("\nExample #1, consider the following continuous state space system");
-      cmd = "sys_cont = ss([-11, 6; -15, 8], [1; 2], [2, -1], 0);";
-      eval(cmd);
-      disp(cmd);
-      disp("Examine the poles and zeros of the continuous system:");
-      sysout(sys_cont,"all");
-      disp("\nTo convert this to a discrete system, a sampling time is needed:");
-      cmd = "Tsam = 0.5;";
-      run_cmd;
-      disp("\nNow convert to a discrete system with the command:");
-      cmd = "sys_disc = c2d(sys_cont,Tsam);";
-      run_cmd;
-      disp("Examine the poles and zeros of the discrete system:");
-      sysout(sys_disc,"all");
-      prompt
-      clc
-
-      disp("\nNow we will convert the discrete system back to a continuous system");
-      disp("using the d2c command:");
-      help d2c
-      prompt
-      cmd = "new_sys_cont = d2c(sys_disc);";
-      run_cmd;
-      disp("\nExamine the poles and zeros of the discrete system:");
-      sysout(new_sys_cont,"all");
-      prompt
-
-    elseif (k == 4)
-      clc
-      help are
-      prompt
-      clc
-
-      disp("Algebraic Riccati Equation (are, dare)");
-
-      disp("\nExample #1, consider the continuous state space system:\n");
-      a=[1, 3, -10.2; 3.7, -2, 9; 1, 3, 7]
-      b=[1, 12; 6, 2; -3.8, 7]
-      c=[1, -1.1, 7; 3, -9.8, 2]
-      d=0
-      prompt
-      disp("\nThe solution to the continuous algebraic riccati equation");
-      disp("is computed as follows:");
-      cmd = "x_cont = are(a, b, c);";
-      run_cmd;
-      disp("Results:\n")
-      x_cont = are(a,b,c)
-      disp("Variable Description:\n")
-      disp("x_cont => solution to the continuous algebraic riccati equation");
-      disp("a, b, c => a, b, and c matrices of continuous time system\n");
-      prompt
-
-      clc
-      help dare
-      prompt
-      clc
-
-      disp("Example #2, consider the discrete time state space system:\n");
-      a=[1, 5, -8.4; 1.2, -3, 5; 1, 7, 9]
-      b=[1, 5; 2, 6; -4.4, 5]
-      c=[1, -1.5, 2; 6, -9.8, 1]
-      d=0
-      r=eye(columns(b))
-      prompt
-      disp("\nThe solution to the continuous algebraic riccati equation");
-      disp("is computed as follows:");
-      cmd = "x_disc = dare(a, b, c, r);";
-      run_cmd;
-      disp("Results:\n")
-      x_disc = dare(a,b,c,r)
-      disp("Variable Description:\n");
-      disp("x_disc => solution to the discrete algebraic riccati equation");
-      disp("a, b, c => a, b and c matrices of discrete time system\n");
-      prompt
-      clc
-
-    elseif (k == 5)
-      disp("--- Balanced realization: not yet implemented")
-    elseif (k == 6)
-      disp("--- Open loop balanced truncation: not yet implemented")
-    elseif (k == 7)
-      disp("SISO pole placement example:")
-      cmd = "sys=tf(1, [1, -2, 1]);";
-      run_cmd
-      disp("System in zero-pole form is:")
-      cmd = "sysout(sys,\"zp\");";
-      run_cmd
-      disp("and in state space form:")
-      cmd = "sysout(sys,\"ss\");";
-      run_cmd
-      disp("Desired poles at -1, -1");
-      cmd = "K=place(sys, [-1, -1])";
-      run_cmd
-      disp("Check results:")
-      cmd = "[A,B] = sys2ss(sys);";
-      run_cmd
-      cmd = "poles=eig(A-B*K)";
-      run_cmd
-      prompt
-    elseif (k == 8)
-      return
-    endif
-  endwhile
-endfunction
-
--- a/scripts/control/base/are.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,122 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{x} =} are (@var{a}, @var{b}, @var{c}, @var{opt})
-## Solve the Algebraic Riccati Equation
-## @iftex
-## @tex
-## $$
-## A^TX + XA - XBX + C = 0
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## a' * x + x * a - x * b * x + c = 0
-## @end example
-## @end ifinfo
-##
-## @strong{Inputs}
-## @noindent
-## for identically dimensioned square matrices
-## @table @var
-## @item a
-## @var{n} by @var{n} matrix;
-## @item b
-##   @var{n} by @var{n} matrix or @var{n} by @var{m} matrix; in the latter case
-##   @var{b} is replaced by @math{b:=b*b'};
-## @item c
-##   @var{n} by @var{n} matrix or @var{p} by @var{m} matrix; in the latter case
-##   @var{c} is replaced by @math{c:=c'*c};
-## @item opt
-## (optional argument; default = @code{"B"}):
-## String option passed to @code{balance} prior to ordered Schur decomposition.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item x
-## solution of the @acronym{ARE}.
-## @end table
-##
-## @strong{Method}
-## Laub's Schur method (@acronym{IEEE} Transactions on
-## Automatic Control, 1979) is applied to the appropriate Hamiltonian
-## matrix.
-## @seealso{balance, dare}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-
-function x = are (a, b, c, opt)
-
-  if (nargin == 3 || nargin == 4)
-    if (nargin == 4)
-      if (! (ischar (opt)
-	     && (strcmp (opt, "N") || strcmp (opt, "P")
-		 || strcmp (opt, "S") || strcmp (opt, "B")
-		 || strcmp (opt, "n") || strcmp (opt, "p")
-		 || strcmp (opt, "s") || strcmp (opt, "b"))))
-        warning ("are: opt has an invalid value; setting to B");
-        opt = "B";
-      endif
-    else
-      opt = "B";
-    endif
-    if ((n = issquare(a)) == 0)
-      error ("are: a is not square");
-    endif
-
-    if (is_controllable(a,b) == 0)
-      warning ("are: a, b are not controllable");
-    endif
-    if ((m = issquare (b)) == 0)
-      b = b * b';
-      m = rows (b);
-    endif
-    if (is_observable (a, c) == 0)
-      warning ("are: a,c are not observable");
-    endif
-    if ((p = issquare (c)) == 0)
-      c = c' * c;
-      p = rows (c);
-    endif
-    if (n != m || n != p)
-      error ("are: a, b, c not conformably dimensioned.");
-    endif
-
-## Should check for controllability/observability here
-## use Boley-Golub (Syst. Contr. Letters, 1984) method, not the
-##
-##                     n-1
-## rank ([ B A*B ... A^   *B]) method
-
-    [d, h] = balance ([a, -b; -c, -a'], opt);
-    [u, s] = schur (h, "A");
-    u = d * u;
-    n1 = n + 1;
-    n2 = 2 * n;
-    x = u (n1:n2, 1:n) / u (1:n, 1:n);
-  else
-    print_usage ();
-  endif
-
-endfunction
--- a/scripts/control/base/bddemo.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,613 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} bddemo (@var{inputs})
-## Octave Controls toolbox demo: Block Diagram Manipulations demo.
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 15, 1994
-## Modified by A S Hodel Summer-Fall 1996
-
-function bddemo ()
-
-  sav_page = page_screen_output ();
-  page_screen_output (1);
-
-  while (1)
-    clc
-    k=0;
-    while(k > 14 || k < 1)
-      k = menu("Octave Block Diagram Manipulations Demo", ...
-        "sysadd/syssub: F(s) = G(s) +/- H(s)", ...
-        "sysappend: add new inputs/outputs", ...
-        "syssetsignals: change names of inputs, outputs, and/or states", ...
-        "sysconnect: connect specified system inputs/outputs", ...
-        "syscont/sysdisc: extract the continuous (discrete) part of a system", ...
-        "sysdup: duplicate specified inputs/outputs", ...
-        "sysgroup: group two systems into a single system,", ...
-        "sysmult: F(s) = G(s)*H(s) (series connection)", ...
-        "sysprune: keep only specified inputs/outputs", ...
-        "sysscale: scale inputs/outputs by specified gain matrices", ...
-        "parallel: parallel connection of two systems", ...
-        "buildssic: the combination of all", ...
-        "Design examples:", ...
-        "Return to main demo menu");
-    endwhile
-    if (k == 1)
-      clc
-      disp("sysadd: add two systems together")
-      disp("syssub: subtract F = G - H")
-      prompt
-      help sysadd
-      prompt
-      help syssub
-      prompt
-      disp("Example #1, \n")
-      cmd = "sys1 = tf([1 -1],[1 2 1]);";
-      run_cmd
-      cmd = "sys2 = tf([1 -1],[1 2 3]);";
-      run_cmd
-      disp("sys1=")
-      sysout(sys1);
-      prompt
-      disp("sys2=")
-      sysout(sys2);
-      cmd = "sys_sum1 = sysadd(sys1,sys1);";
-      run_cmd
-      disp("This example adds sys1 to itself.")
-      cmd = "sysout(sys_sum1)";
-      run_cmd
-      disp("Notice that the numerator is twice what it used to be.")
-      prompt
-      disp("Example 2:")
-      cmd = "sys_sub1 = syssub(sys1,sys2);";
-      run_cmd
-      disp("Notice that sysadd (actually sysgroup, called by sysadd) lets you")
-      disp("know that your two systems had identical names for their states,")
-      disp("inputs and outputs.  The warning message is perfectly harmless,")
-      disp("and is provided for user information only.")
-      disp("sys_sub1=")
-      sysout(sys_sub1)
-      disp("Notice that, since the two transfer functions had different")
-      disp("denominators, syssub converted the primary system type to ")
-      disp("state space.  This is the typical behavior unless the")
-      disp("the two systems are both SISO, they both have the same poles,")
-      disp("and at least one of them has  tf for its primary system type.");
-      prompt
-    elseif (k == 2)
-      disp("sysappend: add new inputs and/or outputs to a system")
-      help sysappend
-      prompt
-      disp("Consider a double-integrator system:")
-      sys = tf(1, [1, 0, 0]);
-      sys=sysupdate(sys,"ss");
-      sysout(sys,"ss");
-      disp("We add a velocity disturbance input as follows:")
-      cmd = "sys1=sysappend(sys,[1;0]);";
-      run_cmd
-      sysout(sys1,"ss");
-      disp("Names of inputs can be included as follows:")
-      cmd = "sys1=sysappend(sys,[1;0], [],[],[],\"Disturb\");";
-      run_cmd
-      disp("Notice that empty matrices can be listed for the D matrix if")
-      disp("all entries are zeros.")
-      disp(" ")
-      disp("sys1 is thus:")
-      sysout(sys1);
-      prompt
-    elseif (k == 3)
-      disp("syssetsignals:")
-      help syssetsignals
-      disp("Example system");
-      a = rand(3,3);
-      b = rand(3,2);
-      c = rand(2,3);
-      sys = ss(a,b,c);
-      sysout(sys);
-      prompt
-      disp("Change state names to larry, moe, and curly as follows:")
-      cmd = 'sys = syssetsignals(sys,"st",{"larry","moe" , "curly"});';
-      run_cmd
-      disp("Indicate that output 2 is discrete-time:")
-      cmd = 'sys = syssetsignals(sys,"yd",1,2);';
-      run_cmd
-      disp("Change output 2 name to \"Vir\"");
-      cmd = "sys = syssetsignals(sys,\"out\",\"Vir\",2);";
-      run_cmd
-      disp("Resulting system is:")
-      sysout(sys);
-      prompt
-    elseif (k == 4)
-      help sysconnect
-      prompt
-      disp("********* N O T E *********")
-      disp("sysconnect is demonstrated fully in the design examples (option 13)");
-      prompt
-    elseif (k == 5)
-      disp("syscont and sysdisc: ")
-      disp("Example block diagram 1:")
-      disp("        ------------------     ---------------------");
-      disp(" u_in ->| Discrete system |--->| Continuous system | ---> y_out");
-      disp("        ------------------     ---------------------");
-      sys1 = tf([1, 2],[1, 2, 1], 1,"u_in","y_disc");
-      sys2 = tf([1, 0],[1, -3, -2],0,"c_in","y_out");
-      sys = sysmult(sys2,sys1);
-      disp("Consider the hybrid system")
-      sysout(sys);
-      prompt
-      help syscont
-      disp("The continuous part of the system can be extracted with syscont")
-      cmd = "[csys,Acd,Ccd] = syscont(sys);";
-      run_cmd
-      disp("The resulting csys is")
-      sysout(csys);
-      disp("Notice that B is 0; there is no purely continuous path from the")
-      disp("input to the output");
-      prompt
-      help sysdisc
-      disp("The discrete part of the system can be extracted with sysdisc")
-      cmd = "[dsys,Adc,Cdc] = sysdisc(sys)";
-      run_cmd
-      disp("The resulting dsys is")
-      sysout(dsys);
-      disp("sysdisc returns dsys=empty since sys has no discrete outputs.");
-      prompt
-      disp("Example block diagram 2:")
-      sys1 = tf([1, 2],[1, 2, 1], 1,"u_in","y_disc");
-      sys2 = tf([1, 0],[1, -3, -2],0,"c_in","y_out");
-      disp("             ---------------------")
-      disp(" u_in -->o-->| Discrete system   | --------> y_disc")
-      disp("         ^   ---------------------    |")
-      disp("         |                            | ");
-      disp("         -----------------------------|---")
-      disp("                                      |  |")
-      disp("         ------------------------------  |")
-      disp("         |                               |")
-      disp("         v   ---------------------       |")
-      disp(" c_in -->o-->| continuous system | --------> y_out")
-      disp("             ---------------------")
-      disp("repeat the above example with sys=")
-      sys = sysgroup(sys1, sys2);
-      sysout(sys)
-      prompt
-      sys = sysconnect(sys,[1, 2],[2, 1]);
-      sysout(sys);
-      cmd = "[csys,Acd,Bcd] = syscont(sys);";
-      run_cmd
-      cmd = "[dsys,Acd,Bcd] = sysdisc(sys);";
-      run_cmd
-      disp("csys is now")
-      sysout(csys)
-      disp("dsys is now")
-      sysout(dsys);
-      prompt
-    elseif (k == 6)
-      help sysdup
-      prompt
-      disp("********* N O T E *********")
-      disp("sysdup is fully demonstrated in the design examples (option 13)")
-      prompt
-    elseif (k == 7)
-      help sysgroup
-      disp(" ")
-      prompt
-      disp("Example: combine two SISO systems together:")
-      cmd = "sys_a=tf([1, 2],[3, 4]);";
-      run_cmd
-      cmd = "sys_b=tf([5, 6],[7, 8],1);";
-      run_cmd
-      cmd = "sys_g=sysgroup(sys_a,sys_b);";
-      run_cmd
-      disp("Notice that sysgroup warns you when you join a purely continuous")
-      disp("system to a purely discrete system.  sysgroup also warns when")
-      disp("you join two systems that have common state, input, or output names.")
-      cmd = "sysout(sys_g)";
-      run_cmd
-      disp("Since the grouped system is a multiple-input multiple-output system,")
-      disp("the output system is by default in state-space format.")
-      disp(" ")
-      disp("********* N O T E *********")
-      disp("sysgroup is further demonstrated in the design examples (option 13)")
-      prompt
-    elseif (k == 8)
-      help sysmult
-      disp("sysmult performs a series connection of two systems.")
-      disp("Example 1")
-      disp(" ")
-      disp("         ----------     ----------")
-      disp("   u --->|  Bsys  |---->|  Asys  |---> y")
-      disp("         ----------     ----------")
-      disp(" ")
-      Asys = tf(1,[1, 2, 1],0,"a_in","a_out");
-      Bsys = tf([2, 3],[1, 3, 2],0,"b_in","b_out");
-      disp("Asys=")
-      sysout(Asys);
-      disp("Bsys=");
-      sysout(Bsys);
-      cmd = "sys = sysmult(Asys,Bsys);";
-      run_cmd
-      disp("sys =")
-      sysout(sys);
-      disp("Notice that sysmult automatically transforms to state space")
-      disp("internal representation.  This is to avoid numerical problems")
-      disp("when multiplying polynomials");
-      prompt
-      disp("Example 2: same system, except that Bsys is discrete-time");
-      Bsys = tf([2, 3],[1, 3, 2],1e-2,"b_in","b_out");
-      sysout(Bsys);
-      cmd = "sys = sysmult(Asys,Bsys);";
-      run_cmd
-      disp("sys =")
-      sysout(sys);
-      prompt
-    elseif (k == 9)
-      help sysprune
-      prompt
-      disp("********* N O T E *********")
-      disp("sysprune is demonstrated in the design examples (option 13)");
-      prompt
-    elseif (k == 10)
-      help sysscale
-      disp(" ")
-      prompt
-      disp("********* N O T E *********")
-      disp("See the design examples (option 13) for use of sysscale.")
-      prompt
-    elseif ( k == 11)
-      help parallel
-      disp("parallel operates by making a call to sysgroup and sysscale.")
-      disp("Example:")
-      sys1 = tf(1,[1, 1],0,"in1","out1");
-      sys2 = tf(2,[1, 2],0,"in2","out2");
-      disp("sys1=")
-      sysout(sys1);
-      disp("sys2=")
-      sysout(sys2);
-      cmd = "sysp = parallel(sys1,sys2);";
-      run_cmd
-      disp("sysp=")
-      sysout(sysp);
-      prompt
-      disp("parallel can be used for multiple input systems as well:")
-
-      in1 = {"u1.1","u1.2"};
-      in2 = {"u2.1","u2.2"};
-      out1 = {"y1.1","y1.2"};
-      out2 = {"y2.1","y2.2"};
-
-      sys1 = ss([-1, 0; 0, -2],eye(2),eye(2),[]);
-      sys2 = ss([-2, 0; 0, -4],eye(2),eye(2),[]);
-
-      sys1 = syssetsignals(sys1,"in",in1);
-      sys1 = syssetsignals(sys1,"out",out1);
-
-      sys2 = syssetsignals(sys2,"in",in2);
-      sys2 = syssetsignals(sys2,"out",out2);
-
-      disp("sys1=")
-      sysout(sys1);
-      disp("sys2=")
-      sysout(sys2);
-      cmd = "sysp = parallel(sys1,sys2);";
-      run_cmd
-      disp("sysp=")
-      sysout(sysp);
-      prompt
-    elseif (k == 12)
-      ## buildssic description
-      disp(" ")
-      disp("        ---------------------------------------")
-      disp("                    b u i l d s s i c")
-      disp("          (BUILD State Space InterConnections)")
-      disp("        ---------------------------------------")
-      disp(" ")
-      disp("buildssic builds a single system from up to 8 systems.")
-      disp("It's primary pupose is the forming of interconnections")
-      disp("for H2/H_inf designs and the building of closed loop")
-      disp("systems.")
-      disp("The interconnections may be of arbitrary complexity.")
-      disp("The use of buildssic is an alternative to sysgroup,")
-      disp("sysadd/syssub, sysappend, sysconnect, sysdup, sysmult")
-      disp("sysprune, sysscale, parallel etc.")
-      disp("In contrast to these functions buildssic does not")
-      disp("handle mixed continuous and discrete systems. However,")
-      disp("discrete systems can be connected as long as their")
-      disp("sampling times are identical. Another drawback: the")
-      disp("names of input/output and state variables are clobbered.")
-      disp("Of course, buildsysic is useful in combination with sysgroup,")
-      disp("sysmult etc.")
-      prompt
-      disp("********* N O T E *********")
-      disp("buildssic is demonstrated in the design examples (option 13)");
-      prompt
-    elseif (k == 13)
-      disp("Design examples")
-      disp("Packed system matrices may be connected and manipulated")
-      disp("With the functions listed below:")
-      disp("  sysdup: duplicate selected inputs/outputs")
-      disp("  sysconnect: connect selected inputs/outputs")
-      disp("  sysgroup: group two systems together")
-      disp("  sysprune: prune a system to keep only selected inputs and outputs")
-      disp("  sysscale:pre/post multiply a system by constant matrices")
-      disp("  buildssic: connect systems with arbitrary complexity.")
-      prompt
-      disp("As a simple example, we will construct the system block ")
-      disp("diagram shown below ")
-      disp(" ")
-      disp("         +          --------    --------");
-      disp("  r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)");
-      disp("            -^      --------    --------  |");
-      disp("             |                            |");
-      disp("             ------------------------------");
-      disp(" ")
-      disp("where P(s) is the plant, K(s) is the controller.")
-      prompt
-      disp("Simple example: P(s) is a first order lag, K(s) is a PI ")
-      disp("controller")
-      nump = 1;
-      denp = [1, 1];
-      disp("P(s)=")
-      tfout(nump,denp)
-      numk = [1, 1];
-      denk = [1, 0];
-      disp("\nK(s)=")
-      tfout(numk,denk);
-      prompt
-      disp("We'll show three approaches.  ")
-      P = tf(nump,denp,0,"plant input","plant output");
-      K = tf(numk, denk,0,"controller input","controller output");
-
-      meth = 0;
-      while(meth != 5)
-        disp("The first method consists of the following steps:")
-        disp("   step 1: create systems P and K")
-        disp("   step 2: group P and K together")
-        disp("   step 3: create a summing junction")
-        disp("   step 4: connect outputs to respective inputs")
-        disp("   step 5: prune the desired i/o connections")
-        disp("The second method is done as follows:")
-        disp("   step 1: create systems P and K and a summing block S")
-        disp("   step 2: connect P, K, and S in series")
-        disp("   step 3: connect y to inverted summing connection")
-        disp("   step 4: prune the desired i/o connections")
-        disp("The third method uses buildssic:")
-        disp("   step 1: GW = buildssic(...,K,P)")
-        disp(" ")
-        disp("Other design examples are in dgkfdemo (controldemo option 7)")
-        disp(" ")
-        meth = menu("Select design example method", ...
-                "Method 1 ", ...
-                "Method 1 (w/o algebraic loop warning)", ...
-                "Method 2", ...
-                "Method 3", ...
-                "Exit design examples");
-        if(meth == 1)
-          disp(" * * * Method 1 * * *")
-          disp(" ")
-          disp("         +          --------    --------");
-          disp("  r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)");
-          disp("            -^      --------    --------  |");
-          disp("             |                            |");
-          disp("             ------------------------------");
-          disp(" ")
-          disp("Step 1: put plants in system format:");
-          nump
-          denp
-          cmd =  "P = tf(nump,denp,0,""plant input"",""plant output"");";
-          run_cmd
-          disp("P=")
-          sysout(P)
-          prompt
-          numk
-          denk
-          cmd = "K = tf(numk, denk,0,""controller input"",""controller output"");";
-          run_cmd
-          sysout(K)
-          prompt
-          disp("Step 2: group the systems together")
-          cmd = "PK = sysgroup(P,K);";
-          run_cmd
-          disp("PK=")
-          sysout(PK);
-          prompt
-          disp(" ")
-          disp("                           y2   u1")
-          disp("         +          --------    --------");
-          disp("  r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)");
-          disp("  u2        -^      --------    --------    |  y1");
-          disp("          u3 |                              |");
-          disp("             --------------------------------");
-          disp(" ")
-          disp("The controller has two inputs summed together, r(t)")
-          disp("and the negative feedback of  y(t)")
-          disp("Step 3a: duplicate controller input: (input 2 of PK)")
-          prompt
-          cmd = "PK = sysdup(PK,[],2);";
-          run_cmd
-          disp("PK=")
-          sysout(PK);
-          disp("Notice that PK now has three inputs (input 3 is a duplicate ");
-          prompt("of input 2).  Press return to go on")
-          disp("Step 3b: scale input 3 by -1")
-          cmd = "PK = sysscale(PK,[],diag([1, 1, -1]));";
-          run_cmd
-          disp("PK=")
-          sysout(PK);
-          prompt
-          disp("Step 4: connect:")
-          disp("   y(t) (output 1) to the negative sum junction (input 3)")
-          disp("   u(t) (output 2) to plant input (input 1)")
-          disp("and prune extraneous inputs/outputs (retain input 2, output 1)")
-          prompt
-          out_connect = [1, 2]
-          in_connect = [3, 1]
-          cmd = "PK0 = sysconnect(PK,out_connect,in_connect);";
-          run_cmd
-          prompt
-          disp("Notice that sysconnect detects the possibility of algebraic")
-          disp("connections when connecting inputs.  Option 2 (Method 1 ")
-          disp("without algebraic loops) shows how to avoid this warning")
-          disp("by performing connections one at a time.")
-          prompt
-          disp("PK0=")
-          sysout(PK0);
-          disp("Notice that the connected inputs now have stars on their")
-          disp("names.  This is how the Octave controls toolbox reminds you")
-          disp("that the loop has been closed around these inputs.")
-          prompt("Press return to prune extra inputs/outputs from system")
-          disp("Only keep plant output (output 1) and r(t) (input 2)")
-          cmd = "PK0 = sysprune(PK0,1,2);";
-          run_cmd
-          disp("PK0=")
-          sysout(PK0);
-          prompt
-          disp("The resulting closed-loop transfer function is obtained as follows:")
-          cmd = "[num,den] = sys2tf(PK0);";
-          run_cmd
-          prompt
-          disp("Transfer function is now")
-          tfout(num,den)
-          disp("You can check this: Pk0=PK/(1+PK), as expected")
-          prompt
-        elseif(meth == 2)
-          disp("Method 1 without algebraic loops")
-          disp(" ")
-          disp("                           y2   u1")
-          disp("         +          --------    --------");
-          disp("  r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)");
-          disp("  u2        -^      --------    --------    |  y1");
-          disp("          u3 |                              |");
-          disp("             --------------------------------");
-          disp(" ")
-          disp("Recall that sysconnect checks for algebraic loops.  Although")
-          disp("Design option 1 gets a warning message about a possible");
-          disp("algebraic loop, such a loop does not exist.")
-          disp("This can be seen by performing the connections one at a time");
-          cmd = "PK = sysgroup(P,K);";
-          run_cmd
-          disp("PK=")
-          sysout(PK);
-          disp("Create an additial inverted input to the controller.")
-          cmd = "PK = sysdup(PK,[],2);";
-          run_cmd
-          cmd = "PK = sysscale(PK,[],diag([1,1,-1]));";
-          run_cmd
-          disp("PK=")
-          sysout(PK);
-          disp("Connect controller to plant:")
-          cmd = "PK0 = sysconnect(PK,2,1);";
-          run_cmd
-          disp("Plant output to negative control input")
-          cmd = "PK0 = sysconnect(PK0,1,3);";
-          run_cmd
-          disp("Only keep plant output (output 1) and r(t) (input 2)")
-          cmd = "PK0 = sysprune(PK0,1,2);";
-          run_cmd
-          disp("PK0=")
-          sysout(PK0);
-          prompt
-          disp("The transfer function form of PK0 is:")
-          sysout(PK0,"tf");
-          prompt
-        elseif(meth == 3)
-          disp(" * * * Method 2 * * *")
-          disp(" ")
-          disp("         +          --------    --------");
-          disp("  r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)");
-          disp("            -^      --------    --------  |");
-          disp("             |                            |");
-          disp("             ------------------------------");
-          disp(" ")
-      disp("Step 1: We've already created systems P and K.  Create a sum ")
-      disp("block as follows:")
-      cmd = 'S = ss([],[],[],[1, -1],0,0,0,[],{"r(t)", "y(t)"},"e(t)");';
-      run_cmd
-      disp("(You may wish to look at help ss to see what the above does)");
-      disp("S=")
-      sysout(S)
-      disp("notice that this is just a gain block that outputs e = r - y")
-      prompt
-      disp("Step 2: series connections of P, K, and S")
-      cmd = "PKS = sysmult(P,sysmult(K,S));";
-      run_cmd
-      disp("PKS=")
-      sysout(PKS)
-      disp("Step 3: connect y to inverted input")
-      cmd = "PKcl = sysconnect(PKS,1,2);";
-      run_cmd
-      disp("PKcl=")
-      sysout(PKcl)
-      disp("Step 4: prune desired inputs/outputs")
-      cmd = "PKcl=sysprune(PKcl,1,1);";
-      run_cmd
-      disp("PKcl=")
-      sysout(PKcl)
-      prompt
-        elseif(meth == 4)
-          disp(" * * * Method 3 * * *")
-          disp(" ")
-          disp("         +          --------    --------");
-          disp("  r(t) ---> (+) --->| K(s) |--->| P(s) | ----> y(t)");
-          disp("            -^      --------    --------  |");
-          disp("             |                            |");
-          disp("             ------------------------------");
-          disp(" ")
-      disp("Step 1: We've already created systems P and K.")
-      disp("        Let us call buildssic:")
-      disp("   PKcl = buildssic([1, 2; 2, -1],[],[1],[2],P,K)")
-      disp(" ")
-      disp("                         ^      ^  ^   ^  ^ ^")
-      disp("                         |      |  |   |  | |")
-      disp("     Connection list ----+      |  |   |  | |")
-      disp(" internal input list -----------+  |   |  | +-- controller")
-      disp("         output list --------------+   |  |")
-      disp("          input list ------------------+  +---- plant")
-      disp(" ")
-      disp(" Connection list: connect input 1 (P) with output 2 (K)")
-      disp("                  connect input 2 (K) with neg. outp. 1 (P)")
-      disp(" ")
-      disp("  int. inp. list: do not append internal inputs")
-      disp("                  (e.g. the internal input of K (r-y))")
-      disp(" ")
-      disp("     output list: the only output is 1 (P), positive")
-      disp(" ")
-      disp("      input list: the only input is 2 (K), positive")
-      disp(" ")
-      cmd = "PKcl = buildssic([1, 2; 2, -1],[],[1],[2],P,K);"
-      run_cmd
-      sysout(PKcl)
-      prompt
-      disp("The transfer function form of PKcl is:")
-      sysout(PKcl,"tf");
-      disp("You can check this: PKcl = PK / (1 + PK), as expected")
-      prompt
-      elseif(meth != 5)
-        disp("invalid selection")
-     endif
-    endwhile
-
-    elseif (k == 14)
-      return
-    endif
-  endwhile
-  implict_str_to_num_ok = str_sav;
-  page_screen_output  (sav_page);
-endfunction
--- a/scripts/control/base/bode.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,209 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{mag}, @var{phase}, @var{w}] =} bode (@var{sys}, @var{w}, @var{out_idx}, @var{in_idx})
-## If no output arguments are given: produce Bode plots of a system; otherwise,
-## compute the frequency response of a system data structure
-##
-## @strong{Inputs}
-## @table @var
-## @item   sys
-## a system data structure (must be either purely continuous or discrete;
-## see is_digital)
-## @item   w
-## frequency values for evaluation.
-##
-## if @var{sys} is continuous, then bode evaluates @math{G(jw)} where
-## @math{G(s)} is the system transfer function.
-##
-## if @var{sys} is discrete, then bode evaluates G(@code{exp}(jwT)), where
-## @itemize @bullet
-## @item @math{T} is the system sampling time
-## @item @math{G(z)} is the system transfer function.
-## @end itemize
-##
-## @strong{Default} the default frequency range is selected as follows: (These
-## steps are @strong{not} performed if @var{w} is specified)
-## @enumerate
-## @item via routine __bodquist__, isolate all poles and zeros away from
-## @var{w}=0 (@var{jw}=0 or @math{@code{exp}(jwT)}=1) and select the frequency
-## range based on the breakpoint locations of the frequencies.
-## @item if @var{sys} is discrete time, the frequency range is limited
-##               to @math{jwT} in
-## @ifinfo
-## [0,2 pi /T]
-## @end ifinfo
-## @iftex
-## @tex
-## $[0,2\pi/T]$
-## @end tex
-## @end iftex
-## @item A "smoothing" routine is used to ensure that the plot phase does
-## not change excessively from point to point and that singular
-## points (e.g., crossovers from +/- 180) are accurately shown.
-##
-## @end enumerate
-## @item out_idx
-## @itemx in_idx
-##
-## The names or indices of outputs and inputs to be used in the frequency
-## response.  See @code{sysprune}.
-##
-## @strong{Example}
-## @example
-## bode(sys,[],"y_3", @{"u_1","u_4"@});
-## @end example
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item mag
-## @itemx phase
-## the magnitude and phase of the frequency response @math{G(jw)} or
-## @math{G(@code{exp}(jwT))} at the selected frequency values.
-## @item w
-## the vector of frequency values used
-## @end table
-##
-## @enumerate
-## @item If no output arguments are given, e.g.,
-## @example
-## bode(sys);
-## @end example
-## bode plots the results to the screen.  Descriptive labels are
-## automatically placed.
-##
-## Failure to include a concluding semicolon will yield some garbage
-## being printed to the screen (@code{ans = []}).
-##
-## @item If the requested plot is for an @acronym{MIMO} system, mag is set to
-## @math{||G(jw)||} or @math{||G(@code{exp}(jwT))||}
-## and phase information is not computed.
-## @end enumerate
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: July 10, 1996
-## Based on previous code by R. Bruce Tenison, July 13, 1994
-## Modified by David Clem November 13, 1994
-## again by A. S. Hodel July 1995 (smart plot range, etc.)
-## Modified by Kai P. Mueller September 28, 1997 (multiplot mode)
-
-function [mag_r, phase_r, w_r] = bode (sys, w, outputs, inputs, plot_style)
-
-  ## check number of input arguments given
-  if (nargin < 1 || nargin > 5)
-    print_usage ();
-  endif
-  if (nargin < 2)
-    w = [];
-  endif
-  if (nargin < 3)
-    outputs = [];
-  endif
-  if (nargin < 4)
-    inputs = [];
-  endif
-  if (nargin < 5)
-    plot_style = "dB";
-  endif
-
-  if (strcmp (plot_style, "dB"))
-    do_db_plot = 1;
-  elseif (strcmp (plot_style, "mag"))
-    do_db_plot = 0;
-  else
-    error ("bode: invalid value of plot_style specified");
-  endif
-
-  [f, w, sys] = __bodquist__ (sys, w, outputs, inputs, "bode");
-  bode_nin = sysdimensions (sys, "in");
-  bode_nout = sysdimensions (sys, "out");
-
-  [stname, inname, outname] = sysgetsignals (sys);
-  systsam = sysgettsam (sys);
-
-  ## Get the magnitude and phase of f.
-  mag = abs (f);
-  phase = unwrap (arg (f)) * 180.0 / pi;
-
-  if (nargout < 1),
-    ## Plot the information
-    if (is_digital (sys))
-      xlstr = sprintf ("Digital frequency w=rad/sec.  pi/T=%g", pi/systsam);
-      tistr = "(exp(jwT)) ";
-    else
-      xlstr = "Frequency in rad/sec";
-      tistr = "(jw)";
-    endif
-
-    wv = [min(w), max(w)];
-
-    is_siso_sys = is_siso (sys);
-    max_mag_positive = max (mag) > 0;
-
-    if (is_siso_sys)
-      subplot (2, 1, 1);
-    endif
-
-    if (do_db_plot)
-      md = 20 * log10 (mag);
-      semilogx (w, md);
-      if (max_mag_positive)
-	ylabel ("Gain in dB");
-	axvec = axis2dlim ([w(:), md(:)]);
-	axvec(1:2) = wv;
-	axis (axvec);
-      endif
-    else
-      loglog (w, mag);
-      ylabel ("Gain |Y/U|")
-    endif
-    xlabel (xlstr);
-    grid ("on");
-
-    if (is_siso_sys)
-      title (sprintf ("|[Y/U]%s|, u=%s, y=%s", tistr, inname{1}, outname{1}));
-    else
-      title (sprintf ("||Y(%s)/U(%s)||", tistr, tistr));
-      disp ("MIMO plot from")
-      disp (__outlist__(inname,"     "));
-      disp ("to")
-      disp (__outlist__(outname,"    "));
-    endif
-
-    if (is_siso_sys)
-      subplot (2, 1, 2);
-      axvec = axis2dlim ([w(:), phase(:)]);
-      axvec(1:2) = wv;
-      semilogx (w, phase);
-      axis (axvec);
-      xlabel (xlstr);
-      ylabel ("Phase in deg");
-      title (sprintf ("phase([Y/U]%s), u=%s, y=%s",
-		      tistr, inname{1}, outname{1}));
-      grid ("on");
-    endif
-  else
-    mag_r = mag;
-    phase_r = phase;
-    w_r = w;
-  endif
-
-endfunction
--- a/scripts/control/base/bode_bounds.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,110 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{wmin}, @var{wmax}] =} bode_bounds (@var{zer}, @var{pol}, @var{dflg}, @var{tsam})
-## Get default range of frequencies based on cutoff frequencies of system
-## poles and zeros.
-## Frequency range is the interval
-## @iftex
-## @tex
-## $ [ 10^{w_{min}}, 10^{w_{max}} ] $
-## @end tex
-## @end iftex
-## @ifinfo
-## [10^@var{wmin}, 10^@var{wmax}]
-## @end ifinfo
-##
-## Used internally in @command{__freqresp__} (@command{bode}, @command{nyquist})
-## @end deftypefn
-
-function [wmin, wmax] = bode_bounds (zer, pol, DIGITAL, tsam)
-
-  if (nargin != 4)
-    print_usage ();
-  endif
-
-  ## make sure zer,pol are row vectors
-  if (! isempty (pol))
-    pol = reshape (pol, 1, length (pol));
-  endif
-  if (! isempty (zer))
-    zer = reshape (zer, 1, length (zer));
-  endif
-
-  if (isa (zer, "single") || isa (pol, "single"))
-    myeps = eps ("single");
-  else
-    myeps = eps;
-  endif
-
-  ## check for natural frequencies away from omega = 0
-  if (DIGITAL)
-    ## The 2nd conditions prevents log(0) in the next log command
-    iiz = find (abs(zer-1) > norm(zer)*myeps && abs(zer) > norm(zer)*myeps);
-    iip = find (abs(pol-1) > norm(pol)*myeps && abs(pol) > norm(pol)*myeps);
-
-    ## avoid dividing empty matrices, it would work but looks nasty
-    if (! isempty (iiz))
-      czer = log (zer(iiz))/tsam;
-    else
-      czer = [];
-    endif
-
-    if (! isempty (iip))
-      cpol = log (pol(iip))/tsam;
-    else
-      cpol = [];
-    endif
-  else
-    ## continuous
-    iip = find (abs(pol) > norm(pol)*myeps);
-    iiz = find (abs(zer) > norm(zer)*myeps);
-
-    if (! isempty (zer))
-      czer = zer(iiz);
-    else
-      czer = [];
-    endif
-    if (! isempty (pol))
-      cpol = pol(iip);
-    else
-      cpol = [];
-    endif
-  endif
-
-  if (isempty (iip) && isempty (iiz))
-    ## no poles/zeros away from omega = 0; pick defaults
-    wmin = -1;
-    wmax = 3;
-  else
-    wmin = floor (log10 (min (abs ([cpol, czer]))));
-    wmax = ceil (log10 (max (abs ([cpol, czer]))));
-  endif
-
-  ## expand to show the entirety of the "interesting" portion of the plot
-  wmin--;
-  wmax++;
-
-  ## run digital frequency all the way to pi
-  if (DIGITAL)
-    wmax = log10 (pi/tsam);
-  endif
-
-endfunction
--- a/scripts/control/base/controldemo.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,31 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} controldemo ()
-## Control Systems Toolbox demo.
-## @seealso{Demo programs: bddemo, frdemo, analdemo, moddmeo, rldemo}
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 15, 1994
-
-function controldemo ()
-  DEMOcontrol ();
-endfunction
--- a/scripts/control/base/ctrb.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,70 +0,0 @@
-## Copyright (C) 1997, 2000, 2002, 2004, 2005, 2006, 2007 Kai P. Mueller
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} ctrb (@var{sys}, @var{b})
-## @deftypefnx {Function File} {} ctrb (@var{a}, @var{b})
-## Build controllability matrix:
-## @iftex
-## @tex
-## $$ Q_s = [ B AB A^2B \ldots A^{n-1}B ] $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##              2       n-1
-## Qs = [ B AB A B ... A   B ]
-## @end example
-## @end ifinfo
-##
-## of a system data structure or the pair (@var{a}, @var{b}).
-##
-## @command{ctrb} forms the controllability matrix.
-## The numerical properties of @command{is_controllable}
-## are much better for controllability tests.
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: November 4, 1997
-## based on is_controllable.m of Scottedward Hodel
-
-function Qs = ctrb (sys, b)
-
-  if (nargin == 2)
-    a = sys;
-  elseif (nargin == 1 && isstruct (sys))
-    sysupdate (sys, "ss");
-    [a, b] = sys2ss (sys);
-  else
-    print_usage ();
-  endif
-
-  if (! is_abcd (a, b))
-    Qs = [];
-  else
-    ## no need to check dimensions, we trust is_abcd().
-    [na, ma] = size (a);
-    ## using imb avoids name conflict with the "mb" function
-    [inb, imb] = size (b);
-    Qs = zeros (na, ma*imb);
-    for i = 1:na
-      Qs(:,(i-1)*imb+1:i*imb) = b;
-      b = a * b;
-    endfor
-  endif
-endfunction
--- a/scripts/control/base/damp.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,89 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2002, 2004, 2005, 2006, 2007
-##               John W. Eaton
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} damp (@var{p}, @var{tsam})
-## Displays eigenvalues, natural frequencies and damping ratios
-## of the eigenvalues of a matrix @var{p} or the @math{A} matrix of a
-## system @var{p}, respectively.
-## If @var{p} is a system, @var{tsam} must not be specified.
-## If @var{p} is a matrix and @var{tsam} is specified, eigenvalues
-## of @var{p} are assumed to be in @var{z}-domain.
-## @seealso{eig}
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: September 29, 1997.
-
-function damp (p, tsam)
-
-  ## assume a continuous system
-  DIGITAL = 0;
-
-  if (nargin < 1 || nargin > 2)
-    print_usage ();
-  endif
-
-  if (isstruct (p))
-    if (nargin != 1)
-      error("damp: when p is a system, tsamp parameter is not allowed.");
-    endif
-    [aa, b, c, d, t_samp] = sys2ss (p);
-    DIGITAL = is_digital (p);
-  else
-    aa = p;
-    if (nargin == 2)
-      DIGITAL = 1;
-      t_samp = tsam;
-    endif
-  endif
-  if (! issquare (aa))
-    error ("damp: Matrix p is not square.")
-  endif
-  if (DIGITAL && t_samp <= 0.0)
-    error ("damp: Sampling time tsam must not be <= 0.")
-  endif
-
-  ## all checks done.
-  e = eig (aa);
-  [n, m] = size (aa);
-  if (DIGITAL)
-    printf ("  (discrete system with sampling time %f)\n", t_samp);
-  endif
-  printf ("............... Eigenvalue ...........     Damping     Frequency\n");
-  printf ("--------[re]---------[im]--------[abs]----------------------[Hz]\n");
-  for i = 1:n
-    pole = e(i);
-    cpole = pole;
-    if (DIGITAL)
-      cpole = log (pole) / t_samp;
-    endif
-    d0 = -cos (atan2 (imag (cpole), real (cpole)));
-    f0 = 0.5 / pi * abs (cpole);
-    if (isa (cpole, "single") && abs(imag (cpole)) < eps ("single") ||
-	! isa (cpole, "single") && abs (imag (cpole)) < eps)
-      printf ("%12f         ---  %12f  %10f  %12f\n",
-             real (pole), abs (pole), d0, f0);
-    else
-      printf ("%12f %12f %12f  %10f  %12f\n",
-             real (pole), imag (pole), abs (pole), d0, f0);
-    endif
-  endfor
-
-endfunction
--- a/scripts/control/base/dare.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,128 +0,0 @@
-## Copyright (C) 1996, 1997, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{x} =} dare (@var{a}, @var{b}, @var{q}, @var{r}, @var{opt})
-##
-## Return the solution, @var{x} of the discrete-time algebraic Riccati
-## equation
-## @iftex
-## @tex
-## $$
-## A^TXA - X + A^TXB  (R + B^TXB)^{-1} B^TXA + Q = 0
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## a' x a - x + a' x b (r + b' x b)^(-1) b' x a + q = 0
-## @end example
-## @end ifinfo
-## @noindent
-##
-## @strong{Inputs}
-## @table @var
-## @item a
-## @var{n} by @var{n} matrix;
-##
-## @item b
-## @var{n} by @var{m} matrix;
-##
-## @item q
-## @var{n} by @var{n} matrix, symmetric positive semidefinite, or a @var{p} by @var{n} matrix,
-## In the latter case @math{q:=q'*q} is used;
-##
-## @item r
-## @var{m} by @var{m}, symmetric positive definite (invertible);
-##
-## @item opt
-## (optional argument; default = @code{"B"}):
-## String option passed to @code{balance} prior to ordered @var{QZ} decomposition.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item x
-## solution of @acronym{DARE}.
-## @end table
-##
-## @strong{Method}
-## Generalized eigenvalue approach (Van Dooren; @acronym{SIAM} J.
-##  Sci. Stat. Comput., Vol 2) applied  to the appropriate symplectic pencil.
-##
-##  See also: Ran and Rodman, @cite{Stable Hermitian Solutions of Discrete
-##  Algebraic Riccati Equations}, Mathematics of Control, Signals and
-##  Systems, Vol 5, no 2 (1992), pp 165--194.
-## @seealso{balance, are}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-## Adapted-By: jwe
-
-function x = dare (a, b, q, r, opt)
-
-  if (nargin == 4 || nargin == 5)
-    if (nargin == 5)
-      if (! (ischar (opt)
-	     && (strcmp (opt, "N") || strcmp (opt, "P")
-		 || strcmp (opt, "S") || strcmp (opt, "B"))))
-        warning ("dare: opt has an invalid value -- setting to B");
-        opt = "B";
-      endif
-    else
-      opt = "B";
-    endif
-
-    if ((p = issquare (q)) == 0)
-      q = q'*q;
-    endif
-
-    ##Checking positive definiteness
-    if (isdefinite (r) <= 0)
-      error ("dare: r not positive definite");
-    endif
-    if (isdefinite (q) < 0)
-      error ("dare: q not positive semidefinite");
-    endif
-
-    ## Check r dimensions.
-    [n, m] = size (b);
-    if ((m1 = issquare (r)) == 0)
-      error ("dare: r is not square");
-    elseif (m1 != m)
-      error ("b,r are not conformable");
-    endif
-
-    s1 = [a, zeros(n) ; -q, eye(n)];
-    s2 = [eye(n), (b/r)*b' ; zeros(n), a'];
-
-    [c, d, s1, s2] = balance (s1, s2, opt);
-
-    [aa, bb, u, lam] = qz (s1, s2, "S");
-
-    u = d*u;
-    n1 = n+1;
-    n2 = 2*n;
-    x = u (n1:n2, 1:n)/u(1:n, 1:n);
-  else
-    print_usage ();
-  endif
-
-endfunction
--- a/scripts/control/base/dcgain.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,59 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2002, 2004, 2005, 2006, 2007
-##               John W. Eaton
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} dcgain (@var{sys}, @var{tol})
-## Returns dc-gain matrix. If dc-gain is infinite
-## an empty matrix is returned.
-## The argument @var{tol} is an optional tolerance for the condition
-## number of the @math{A} Matrix in @var{sys} (default @var{tol} = 1.0e-10)
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: October 1, 1997
-
-function gm = dcgain (sys, tol)
-
-  if (nargin < 1 || nargin > 2)
-    print_usage ();
-  endif
-  if (! isstruct (sys))
-    error ("dcgain: first argument is not a system data structure.")
-  endif
-  sys = sysupdate (sys, "ss");
-  [aa, bb, cc, dd] = sys2ss (sys);
-  if (is_digital (sys))
-    aa = aa - eye (size (aa));
-  endif
-  if (nargin == 1)
-    tol = 1.0e-10;
-  endif
-  r = rank (aa, tol);
-  if (r < rows (aa))
-    gm = [];
-  else
-    gm = -cc / aa * bb + dd;
-  endif
-  if (! is_stable (sys))
-    [nn, nz, mm, pp] = sysdimensions (sys);
-    warning ("dcgain: unstable system; dimensions: nc=%d, nz=%d, mm=%d, pp=%d",
-	     nn, nz, mm, pp);
-  endif
-
-endfunction
--- a/scripts/control/base/dgram.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-## Copyright (C) 1996, 2000, 2003, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} dgram (@var{a}, @var{b})
-## Return controllability gramian of discrete time system
-## @iftex
-## @tex
-## $$ x_{k+1} = ax_k + bu_k $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##   x(k+1) = a x(k) + b u(k)
-## @end example
-## @end ifinfo
-##
-## @strong{Inputs}
-## @table @var
-## @item a
-## @var{n} by @var{n} matrix
-## @item b
-## @var{n} by @var{m} matrix
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item m
-## @var{n} by @var{n} matrix, satisfies
-## @iftex
-## @tex
-## $$ ama^T - m + bb^T = 0 $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##  a m a' - m + b*b' = 0
-## @end example
-## @end ifinfo
-## @end table
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 1995
-
-function m = dgram (a, b)
-
-  if (nargin != 2)
-    print_usage ();
-  endif
-
-  ## let dlyap do the error checking...
-
-  m = dlyap (a, b*b');
-
-endfunction
--- a/scripts/control/base/dkalman.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,187 +0,0 @@
-## Copyright (C) 2000, 2002, 2005, 2007 Gabriele Pannocchia
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{Lp}, @var{Lf}, @var{P}, @var{Z}] =} dkalman (@var{A}, @var{G}, @var{C}, @var{Qw}, @var{Rv}, @var{S})
-## Construct the linear quadratic estimator (Kalman predictor) for the
-## discrete time system
-## @iftex
-## @tex
-## $$
-##  x_{k+1} = A x_k + B u_k + G w_k
-## $$
-## $$
-##  y_k = C x_k + D u_k + v_k
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-##
-## @example
-## x[k+1] = A x[k] + B u[k] + G w[k]
-##   y[k] = C x[k] + D u[k] + v[k]
-## @end example
-##
-## @end ifinfo
-## where @var{w}, @var{v} are zero-mean gaussian noise processes with
-## respective intensities @code{@var{Qw} = cov (@var{w}, @var{w})} and
-## @code{@var{Rv} = cov (@var{v}, @var{v})}.
-##
-## If specified, @var{S} is @code{cov (@var{w}, @var{v})}.  Otherwise
-## @code{cov (@var{w}, @var{v}) = 0}.
-##
-## The observer structure is
-## @iftex
-## @tex
-## $x_{k+1|k} = A x_{k|k-1} + B u_k + L_p (y_k - C x_{k|k-1} - D u_k)$
-## $x_{k|k} = x_{k|k} + L_f (y_k - C x_{k|k-1} - D u_k)$
-## @end tex
-## @end iftex
-## @ifinfo
-##
-## @example
-## x[k+1|k] = A x[k|k-1] + B u[k] + LP (y[k] - C x[k|k-1] - D u[k])
-## x[k|k] = x[k|k-1] + LF (y[k] - C x[k|k-1] - D u[k])
-## @end example
-## @end ifinfo
-##
-## @noindent
-## The following values are returned:
-##
-## @table @var
-## @item Lp
-## The predictor gain,
-## @iftex
-## @tex
-## $(A - L_p C)$.
-## @end tex
-## @end iftex
-## @ifinfo
-## (@var{A} - @var{Lp} @var{C})
-## @end ifinfo
-## is stable.
-##
-## @item Lf
-## The filter gain.
-##
-## @item P
-## The Riccati solution.
-## @iftex
-## @tex
-## $P = E \{(x - x_{n|n-1})(x - x_{n|n-1})'\}$
-## @end tex
-## @end iftex
-##
-## @ifinfo
-## P = E [(x - x[n|n-1])(x - x[n|n-1])']
-## @end ifinfo
-##
-## @item Z
-## The updated error covariance matrix.
-## @iftex
-## @tex
-## $Z = E \{(x - x_{n|n})(x - x_{n|n})'\}$
-## @end tex
-## @end iftex
-##
-## @ifinfo
-## Z = E [(x - x[n|n])(x - x[n|n])']
-## @end ifinfo
-## @end table
-## @end deftypefn
-
-## Author: Gabriele Pannocchia <pannocchia@ing.unipi.it>
-## Created: July 2000
-
-function [Lp, Lf, P, Z] = dkalman (A, G, C, Qw, Rv, S)
-
-  if (nargin != 5 && nargin != 6)
-    error ("dkalman: invalid number of arguments");
-  endif
-
-  ## Check A.
-  if ((n = issquare (A)) == 0)
-    error ("dkalman: requires 1st parameter(A) to be square");
-  endif
-
-  ## Check C.
-  [p, n1] = size (C);
-  if (n1 != n)
-    error ("dkalman: A,C not conformal");
-  endif
-
-  ## Check G.
-  [n1, nw] = size (G);
-  if (n1 != n)
-    error ("dkalman: A,G not conformal");
-  endif
-
-  ## Check Qw.
-  if ((nw1 = issquare (Qw)) == 0)
-    error ("dkalman: requires 4rd parameter(Qw) to be square");
-  else
-    if (nw1 != nw)
-      error ("dkalman: G,Qw not conformal");
-    endif
-  endif
-
-  ## Check Rv.
-  if ((p1 = issquare (Rv)) == 0)
-    error ("dkalman: requires 5rd parameter(Rv) to be square");
-  else
-    if (p1 != p)
-      error ("dkalman: C,Rv not conformal");
-    endif
-  endif
-
-  ## Check S if it is there
-  if (nargin == 6)
-    [nw1, p1] = size (S);
-    if (nw1 != nw || p1 != p)
-      error ("dkalman: S not conformal with Qw and Rv");
-    else
-      Cov_aug = [Qw, S; S', Rv];
-      if (! all (eig (Cov_aug) > 0))
-	error ("dkalman: augmented noise covariance matrix must be positive definite");
-      endif
-    endif
-  else
-    if (! all (eig (Qw) > 0) || ! all (eig (Rv) > 0))
-      error ("dkalman: covariance matrices Qw,Rv must be positive definite");
-    endif
-    S = zeros (nw, p);
-  endif
-
-  ## Incorporate the cross term into A and Qw
-  As = A - G*S/Rv*C;
-  Qs = Qw - S/Rv*S';
-
-  ## Call dare to solve the Riccati eqn.
-  a = As';
-  b = C';
-  c = G*Qs*G';
-  r = Rv;
-  p = dare (a, b, c, r);
-
-  ## Output
-  Lp = (A*p*C'+G*S)/(Rv+C*p*C');
-  Lf = (p*C')/(Rv+C*p*C');
-  P = p;
-  Z = p - Lf*C*p;
-
-endfunction
--- a/scripts/control/base/dlqe.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,128 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2005, 2007 Auburn University
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{l}, @var{m}, @var{p}, @var{e}] =} dlqe (@var{a}, @var{g}, @var{c}, @var{sigw}, @var{sigv}, @var{z})
-## Construct the linear quadratic estimator (Kalman filter) for the
-## discrete time system
-## @iftex
-## @tex
-## $$
-##  x_{k+1} = A x_k + B u_k + G w_k
-## $$
-## $$
-##  y_k = C x_k + D u_k + v_k
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-##
-## @example
-## x[k+1] = A x[k] + B u[k] + G w[k]
-##   y[k] = C x[k] + D u[k] + v[k]
-## @end example
-##
-## @end ifinfo
-## where @var{w}, @var{v} are zero-mean gaussian noise processes with
-## respective intensities @code{@var{sigw} = cov (@var{w}, @var{w})} and
-## @code{@var{sigv} = cov (@var{v}, @var{v})}.
-##
-## If specified, @var{z} is @code{cov (@var{w}, @var{v})}.  Otherwise
-## @code{cov (@var{w}, @var{v}) = 0}.
-##
-## The observer structure is
-## @iftex
-## @tex
-## $$
-##  z_{k|k} = z_{k|k-1} + l (y_k - C z_{k|k-1} - D u_k)
-## $$
-## $$
-##  z_{k+1|k} = A z_{k|k} + B u_k
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-##
-## @example
-## z[k|k] = z[k|k-1] + L (y[k] - C z[k|k-1] - D u[k])
-## z[k+1|k] = A z[k|k] + B u[k]
-## @end example
-## @end ifinfo
-##
-## @noindent
-## The following values are returned:
-##
-## @table @var
-## @item l
-## The observer gain,
-## @iftex
-## @tex
-## $(A - ALC)$.
-## @end tex
-## @end iftex
-## @ifinfo
-## (@var{a} - @var{a}@var{l}@var{c}).
-## @end ifinfo
-## is stable.
-##
-## @item m
-## The Riccati equation solution.
-##
-## @item p
-## The estimate error covariance after the measurement update.
-##
-## @item e
-## The closed loop poles of
-## @iftex
-## @tex
-## $(A - ALC)$.
-## @end tex
-## @end iftex
-## @ifinfo
-## (@var{a} - @var{a}@var{l}@var{c}).
-## @end ifinfo
-## @end table
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-## Modified for discrete time by R. Bruce Tenison (btenison@eng.auburn.edu)
-## October, 1993
-## Modified by Gabriele Pannocchia <pannocchia@ing.unipi.it>
-## July 2000
-
-function [l, m, p, e] = dlqe (a, g, c, sigw, sigv, s)
-
-  if (nargin != 5 && nargin != 6)
-    error ("dlqe: invalid number of arguments");
-  endif
-
-  ## The problem is dual to the regulator design, so transform to dlqr call.
-
-  if (nargin == 5)
-    [k, m, e] = dlqr (a', c', g*sigw*g', sigv);
-  else
-    [k, m, e] = dlqr (a', c', g*sigw*g', sigv, g*s);
-    warning ("dlqe: use dkalman when there is a cross-covariance term");
-  endif
-
-  l = m*c'/(c*m*c'+sigv);
-  p = m - m*c'/(c*m*c'+sigv)*c*m;
-
-endfunction
-
--- a/scripts/control/base/dlqr.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,153 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2002, 2003, 2005, 2007
-##               Auburn University
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{k}, @var{p}, @var{e}] =} dlqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{z})
-## Construct the linear quadratic regulator for the discrete time system
-## @iftex
-## @tex
-## $$
-##  x_{k+1} = A x_k + B u_k
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-##
-## @example
-## x[k+1] = A x[k] + B u[k]
-## @end example
-##
-## @end ifinfo
-## to minimize the cost functional
-## @iftex
-## @tex
-## $$
-##  J = \sum x^T Q x + u^T R u
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-##
-## @example
-## J = Sum (x' Q x + u' R u)
-## @end example
-## @end ifinfo
-##
-## @noindent
-## @var{z} omitted or
-## @iftex
-## @tex
-## $$
-##  J = \sum x^T Q x + u^T R u + 2 x^T Z u
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-##
-## @example
-## J = Sum (x' Q x + u' R u + 2 x' Z u)
-## @end example
-##
-## @end ifinfo
-## @var{z} included.
-##
-## The following values are returned:
-##
-## @table @var
-## @item k
-## The state feedback gain,
-## @iftex
-## @tex
-## $(A - B K)$
-## @end tex
-## @end iftex
-## @ifinfo
-## (@var{a} - @var{b}@var{k})
-## @end ifinfo
-## is stable.
-##
-## @item p
-## The solution of algebraic Riccati equation.
-##
-## @item e
-## The closed loop poles of
-## @iftex
-## @tex
-## $(A - B K)$.
-## @end tex
-## @end iftex
-## @ifinfo
-## (@var{a} - @var{b}@var{k}).
-## @end ifinfo
-## @end table
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-## Converted to discrete time by R. B. Tenison
-## (btenison@eng.auburn.edu) October 1993
-
-function [k, p, e] = dlqr (a, b, q, r, s)
-
-  if (nargin != 4 && nargin != 5)
-    error ("dlqr: invalid number of arguments");
-  endif
-
-  ## Dimension check is done inside dare.m
-  [n,m] = size(b);
-
-  ## Check if s is there.
-  if (nargin == 5)
-    [n1, m1] = size (s);
-    if (n1 != n || m1 != m)
-      error ("dlqr: z must be identically dimensioned with b");
-    endif
-
-    ## Incorporate cross term into a and q.
-    ao = a - (b/r)*s';
-    qo = q - (s/r)*s';
-  else
-    s = zeros (n, m);
-    ao = a;
-    qo = q;
-  endif
-
-  ## Checking stabilizability and detectability (dimensions are checked
-  ## inside these calls).
-  if (isa (a, "single") || isa (b, "single") || isa (q, "single") || isa (r, "single"))
-    tol = 200 * eps ("single");
-  else
-    tol = 200 * eps;
-  endif
-  if (is_stabilizable (ao, b, tol, 1) == 0)
-    error ("dlqr: (a,b) not stabilizable");
-  endif
-  dflag = is_detectable (ao, qo, tol, 1);
-  if (dflag == 0)
-    warning ("dlqr: (a,q) not detectable");
-  elseif (dflag == -1)
-    error ("dlqr: (a,q) has non minimal modes near unit circle");
-  endif
-
-  ## Compute the Riccati solution
-  p = dare (ao, b, qo, r);
-  k = (r+b'*p*b)\(b'*p*a + s');
-  e = eig (a - b*k);
-
-endfunction
--- a/scripts/control/base/dlyap.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,160 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} dlyap (@var{a}, @var{b})
-## Solve the discrete-time Lyapunov equation
-##
-## @strong{Inputs}
-## @table @var
-##   @item a
-##   @var{n} by @var{n} matrix;
-##   @item b
-##   Matrix: @var{n} by @var{n}, @var{n} by @var{m}, or @var{p} by @var{n}.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item x
-## matrix satisfying appropriate discrete time Lyapunov equation.
-## @end table
-##
-## Options:
-## @itemize @bullet
-## @item @var{b} is square: solve
-## @iftex
-## @tex
-## $$ axa^T - x + b = 0 $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @code{a x a' - x + b = 0}
-## @end ifinfo
-## @item @var{b} is not square: @var{x} satisfies either
-## @iftex
-## @tex
-## $$ axa^T - x + bb^T = 0 $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## a x a' - x + b b' = 0
-## @end example
-## @end ifinfo
-## @noindent
-## or
-## @iftex
-## @tex
-## $$ a^Txa - x + b^Tb = 0, $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## a' x a - x + b' b = 0,
-## @end example
-## @end ifinfo
-## @noindent
-## whichever is appropriate.
-## @end itemize
-##
-## @strong{Method}
-## Uses Schur decomposition method as in Kitagawa,
-## @cite{An Algorithm for Solving the Matrix Equation @math{X = F X F' + S}},
-## International Journal of Control, Volume 25, Number 5, pages 745--753
-## (1977).
-##
-## Column-by-column solution method as suggested in
-## Hammarling, @cite{Numerical Solution of the Stable, Non-Negative
-## Definite Lyapunov Equation}, @acronym{IMA} Journal of Numerical Analysis, Volume
-## 2, pages 303--323 (1982).
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-
-function x = dlyap (a, b)
-
-  if (nargin != 2)
-    print_usage ();
-  endif
-
-  if ((n = issquare (a)) == 0)
-    warning ("dlyap: a must be square");
-  endif
-
-  if ((m = issquare (b)) == 0)
-    [n1, m] = size (b);
-    if (n1 == n)
-      b = b*b';
-      m = n1;
-    else
-      b = b'*b;
-      a = a';
-    endif
-  endif
-
-  if (n != m)
-    warning ("dlyap: a,b not conformably dimensioned");
-  endif
-
-  ## Solve the equation column by column.
-
-  [u, s] = schur (a);
-  b = u'*b*u;
-
-  j = n;
-  while (j > 0)
-    j1 = j;
-
-    ## Check for Schur block.
-
-    if (j == 1)
-      blksiz = 1;
-    elseif (s (j, j-1) != 0)
-      blksiz = 2;
-      j = j - 1;
-    else
-      blksiz = 1;
-    endif
-
-    Ajj = kron (s(j:j1,j:j1), s) - eye (blksiz*n);
-
-    rhs = reshape (b (:,j:j1), blksiz*n, 1);
-
-    if (j1 < n)
-      rhs2 = s*(x(:,(j1+1):n) * s(j:j1,(j1+1):n)');
-      rhs = rhs + reshape (rhs2, blksiz*n, 1);
-    endif
-
-    v = - Ajj\rhs;
-    x(:,j) = v (1:n);
-
-    if (blksiz == 2)
-      x (:, j1) = v ((n+1):blksiz*n);
-    endif
-
-    j = j - 1;
-
-  endwhile
-
-  ## Back-transform to original coordinates.
-
-  x = u*x*u';
-
-endfunction
--- a/scripts/control/base/dre.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,188 +0,0 @@
-## Copyright (C) 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{tvals}, @var{plist}] =} dre (@var{sys}, @var{q}, @var{r}, @var{qf}, @var{t0}, @var{tf}, @var{ptol}, @var{maxits})
-## Solve the differential Riccati equation
-## @ifinfo
-## @example
-##   -d P/dt = A'P + P A - P B inv(R) B' P + Q
-##   P(tf) = Qf
-## @end example
-## @end ifinfo
-## @iftex
-## @tex
-## $$ -{dP \over dt} = A^T P+PA-PBR^{-1}B^T P+Q $$
-## $$ P(t_f) = Q_f $$
-## @end tex
-## @end iftex
-## for the @acronym{LTI} system sys.  Solution of
-## standard @acronym{LTI} state feedback optimization
-## @ifinfo
-## @example
-##   min int(t0, tf) ( x' Q x + u' R u ) dt + x(tf)' Qf x(tf)
-## @end example
-## @end ifinfo
-## @iftex
-## @tex
-## $$ \min \int_{t_0}^{t_f} x^T Q x + u^T R u dt + x(t_f)^T Q_f x(t_f) $$
-## @end tex
-## @end iftex
-## optimal input is
-## @ifinfo
-## @example
-##   u = - inv(R) B' P(t) x
-## @end example
-## @end ifinfo
-## @iftex
-## @tex
-## $$ u = - R^{-1} B^T P(t) x $$
-## @end tex
-## @end iftex
-## @strong{Inputs}
-## @table @var
-## @item sys
-## continuous time system data structure
-## @item q
-## state integral penalty
-## @item r
-## input integral penalty
-## @item qf
-## state terminal penalty
-## @item t0
-## @itemx tf
-## limits on the integral
-## @item ptol
-## tolerance (used to select time samples; see below); default = 0.1
-## @item maxits
-## number of refinement iterations (default=10)
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item tvals
-## time values at which @var{p}(@var{t}) is computed
-## @item plist
-## list values of @var{p}(@var{t}); @var{plist} @{ @var{i} @}
-## is @var{p}(@var{tvals}(@var{i}))
-## @end table
-## @var{tvals} is selected so that:
-## @iftex
-## @tex
-## $$ \Vert plist_{i} - plist_{i-1} \Vert < ptol $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## || Plist@{i@} - Plist@{i-1@} || < Ptol
-## @end example
-## @end ifinfo
-## for every @var{i} between 2 and length(@var{tvals}).
-## @end deftypefn
-
-function [tvals, Plist] = dre (sys, Q, R, Qf, t0, tf, Ptol, maxits)
-
-  if (nargin < 6 || nargin > 8)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be a system data structure")
-  elseif (is_digital (sys))
-    error ("sys must be a continuous time system")
-  elseif (! ismatrix (Q) || ! ismatrix (R) || ! ismatrix (Qf))
-    error ("Q, R, and Qf must be matrices");
-  elseif (! isscalar (t0) || ! isscalar (tf))
-    error ("t0 and tf must be scalars")
-  elseif (t0 >= tf)
-    error ("t0=%e >= tf=%e", t0, tf);
-  elseif (nargin < 7)
-    Ptol = 0.1;
-  elseif (! isscalar (Ptol))
-    error ("Ptol must be a scalar");
-  elseif (Ptol <= 0)
-    error ("Ptol must be positive");
-  endif
-
-  if (nargin < 8)
-    maxits = 10;
-  elseif (! isscalar (maxits))
-    error ("maxits must be a scalar");
-  elseif (maxits <= 0)
-    error ("maxits must be positive");
-  endif
-  maxits = ceil (maxits);
-
-  [aa, bb] = sys2ss (sys);
-  nn = sysdimensions (sys, "cst");
-  mm = sysdimensions (sys, "in");
-  pp = sysdimensions (sys, "out");
-
-  if (size (Q) != [nn, nn])
-    error ("Q(%dx%d); sys has %d states", rows (Q), columns (Q), nn);
-  elseif (size (Qf) != [nn, nn])
-    error ("Qf(%dx%d); sys has %d states", rows (Qf), columns (Qf), nn);
-  elseif (size (R) != [mm, mm])
-    error ("R(%dx%d); sys has %d inputs", rows (R), columns (R), mm);
-  endif
-
-  ## construct Hamiltonian matrix
-  H = [aa , -(bb/R)*bb' ; -Q, -aa'];
-
-  ## select time step to avoid numerical overflow
-  fast_eig = max (abs (eig (H)));
-  tc = log (10) / fast_eig;
-  nst = ceil ((tf-t0)/tc);
-  tvals = -linspace (-tf, -t0, nst);
-  Plist = list (Qf);
-  In = eye (nn);
-  n1 = nn+1;
-  n2 = nn+nn;
-  done = 0;
-  while (! done)
-    done = 1;      # assume this pass will do the job
-    ## sort time values in reverse order
-    tvals = -sort (-tvals);
-    tvlen = length (tvals);
-    maxerr = 0;
-    ## compute new values of P(t); recompute old values just in case
-    for ii = 2:tvlen
-      uv_i_minus_1 = [In; Plist{ii-1}];
-      delta_t = tvals(ii-1) - tvals(ii);
-      uv = expm (-H*delta_t)*uv_i_minus_1;
-      Qi = uv(n1:n2,1:nn)/uv(1:nn,1:nn);
-      Plist(ii) = (Qi+Qi')/2;
-      ## check error
-      Perr = norm (Plist{ii} - Plist{ii-1})/norm(Plist{ii});
-      maxerr = max (maxerr,Perr);
-      if (Perr > Ptol)
-        new_t = mean (tvals([ii,ii-1]));
-        tvals = [tvals, new_t];
-        done = 0;
-      endif
-    endfor
-
-    ## check number of iterations
-    maxits = maxits - 1;
-    done = done + (maxits == 0);
-  endwhile
-  if (maxerr > Ptol)
-    warning ("dre: exiting with %d points, max rel chg. = %e, Ptol = %e",
-             tvlen, maxerr, Ptol);
-    tvals = tvals(1:length(Plist));
-  endif
-
-endfunction
--- a/scripts/control/base/frdemo.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,600 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} frdemo ()
-## Octave Control Toolbox demo: Frequency Response demo.
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 15, 1994
-## a s hodel: updated to match new order of ss2zp outputs
-## J Ingram:  updated for system data structure format August 1996
-
-function frdemo ()
-
-  disp("")
-  clc
-  j = 0;
-  while (j != 4)
-    disp("");
-    j = menu("Octave Controls Systems Toolbox Frequency Response Demo",
-             "Bode analysis (bode)",
-             "Nyquist analysis (nyquist)",
-             "Nichols analysis (nichols)",
-             "Return to main demo menu");
-
-    if (j == 1)
-      k1 = 0;
-      while (k1 != 4)
-        disp("\n");
-        clc
-
-        k1 = menu("Bode analysis (bode)",
-                  "Continuous system bode analysis",
-                  "Discrete system bode analysis",
-                  "Bode command description",
-                  "Return to frdemo menu");
-
-        if( k1 == 1 )
-          disp(" ")
-          clc
-          disp("\nContinuous system bode analysis\n");
-          disp("Example #1:")
-          disp("\nConsider the system sys1=");
-          sys1=tf([1, 1], [1, 0, -1]);
-          sysout(sys1);
-          disp("\nPole-zero form can be obtained as follows:")
-          cmd = "sysout(sys1,""zp"");";
-          run_cmd;
-          disp("The systems bode plot is obtained as follows:");
-          cmd = "bode(sys1);";
-          run_cmd;
-          disp("\nNotice that bode automatically labels the plots according to")
-          disp("the selected input/output combinations.")
-          disp(" ")
-          disp("If the frequency range is not specified, bode automatically")
-          disp("selects a frequency range based on the natural frequencies of")
-          disp("of all poles away from s=0 (or z=1 in discrete time).  Bode")
-          disp("then checks to make sure that the phase plot is sufficiently")
-          disp("smooth that relevant plot behavior is captured.")
-          disp("")
-          disp("Bode exits with an error if the system is mixed (both continuous")
-          disp("and discrete; see is_digital for conditions)")
-          prompt
-          disp("\nIf the plot magnitude, phase and frequency data is desired, the");
-          disp("user can enter the following command:");
-          disp("\n[Mag,Phase,w] = bode(sys);");
-          disp("\nThis will return three vectors containing the magnitude,");
-          disp("phase and frequency.\n");
-          prompt;
-
-          disp("")
-          clc
-          disp("Example #2, sys2=")
-          cmd = "sys2=zp(1, [-1, -5], 10);";
-          eval(cmd);
-          cmd = "sysout(sys2);";
-          eval(cmd);
-          disp("\nThe bode plot command is identical to the tf form:")
-          cmd = "bode(sys2);";
-          run_cmd;
-          disp("\nThe internal representation of the system is not important;")
-          disp("bode automatically sorts it out internally.")
-          prompt;
-
-          disp("")
-          clc
-          disp("Example #3, Consider the following state space system sys3=:\n");
-          cmd = "sys3=ss([0, 1; -1000, -1001], [0; 1], [0, -891], 1);";
-          eval(cmd);
-          cmd = "sysout(sys3);";
-          eval(cmd);
-          disp("\nOnce again, the bode plot command is the same:");
-          cmd = "bode(sys3);";
-          run_cmd;
-          disp("\nSuppose the user is interested in the response of the system");
-          disp("defined over the input frequency range of 1 - 1000 rad/s.\n");
-          disp("First, a frequency vector is required.  It can be created");
-          disp("with the command:\n");
-          cmd = "wrange = logspace(log10(1),log10(1000),100);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nThis creates a logarithmically scaled frequency vector with");
-          disp("100 values between 1 and 1000 rad/s\n");
-          disp("Then, the bode command includes wrange in the input arguments");
-          disp("like this:");
-          cmd = "bode(sys3,wrange);";
-          run_cmd;
-          prompt;
-
-          disp("")
-          clc
-          disp("\nExample #4, The state-space system from example 3 will be");
-          disp("grouped with the system from example 2 to form a MIMO system");
-          disp("The commands to do this grouping are as follows (changing signal");
-          disp("names for clarity):");
-          cmd = "sys2 = syssetsignals(sys2,\"out\",\"y_sys2\");";
-          disp(cmd);  eval(cmd);
-          cmd = "sys2 = syssetsignals(sys2,\"in\",\"u_sys2\");";
-          disp(cmd);  eval(cmd);
-          cmd = "nn = sysdimensions(sys2);";
-          disp(cmd);  eval(cmd);
-          cmd = "[nn,nz] = sysdimensions(sys2);";
-          disp(cmd);  eval(cmd);
-          cmd = "sys2 = syssetsignals(sys2,\"st\",__sysdefioname__(nn+nz,\"x_sys2\"));";
-          disp(cmd);  eval(cmd);
-          cmd = "sys_mimo = sysgroup(sys2,sys3);";
-          disp(cmd); eval(cmd);
-          disp("The resulting state-space system (after changing signal names");
-          disp("in sys2) is");
-          cmd = "sysout(sys_mimo)";
-          eval(cmd);
-          disp("\nNotice that there are now 2 inputs and 2 outputs, and that it did");
-          disp("not matter what form the two systems were in when they were grouped.");
-          disp(["\nTo view the system's bode plots, execute the",
-                " following command:\n"])
-          cmd = "bode(sys_mimo);";
-          run_cmd;
-          prompt
-          disp("\nTo view the bode plots for selected  channels, the command form changes:")
-          cmd = "wrange = [];";
-          disp(cmd)
-          eval(cmd);
-          cmd = "out = 1;";
-          disp(cmd)
-          eval(cmd);
-          cmd = "in = 1;";
-          disp(cmd)
-          eval(cmd);
-          cmd = "bode(sys_mimo,wrange,out,in);";
-          run_cmd;
-          disp("\nNotice that this bode plot is the same as the plot from example 2.");
-          prompt
-          closeplot
-
-        elseif( k1 == 2 )
-          disp("")
-          clc
-          disp("\nDiscrete system bode analysis\n");
-          disp("Display bode plots of a discrete SISO system (dbode)\n")
-          disp("Example #1, Consider the following discrete transfer");
-          disp(" function:\n");
-          cmd = "sys1 = tf([0.00100502, -0.00099502], [1, -2, 1], 0.001);";
-          disp(cmd);
-          eval(cmd);
-          cmd = "sysout(sys1)";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo examine open loop zeros and poles of the system,");
-          disp("use the command:\n")
-          cmd = "sysout(sys1,""zp"");";
-          run_cmd;
-          disp("\nTo view the system's bode plots, execute the following");
-          disp("command:\n")
-          cmd = "bode(sys1);";
-          run_cmd;
-          disp("\nNotice (1) the plot label uses exp(jwT) for its title axis. This")
-          disp("           allows the user to determine what kind of system was")
-          disp("           used to generate the bode plot");
-          disp("       (2) the system poles are both at z=1, (break frequency at")
-          disp("           jwT = 0); pure integrator poles like this are discarded")
-          disp("           by Octave when computing the plot frequency range.")
-
-          disp("\nIf magnitude, phase, and frequency data are also desired,");
-          disp(" perform the following command instead:\n");
-          disp("[M,P,w]=dbode(num,den,T,wrange).\n Where:");
-          disp("M => Bode magnitude response data");
-          disp("P => Bode phase response data");
-          disp("w => frequencies that M and P were evaluated at");
-          disp("sys1 => system data structure")
-          disp("T => sample period")
-          disp("wrange => optional vector of frequencies")
-          disp("          if wrange is entered in the argument list, the");
-          disp("          system will be evaluated at these specific");
-          disp("          frequencies\n");
-
-          prompt
-          disp("")
-          clc
-          disp("Example #2, Consider the following set of discrete poles and");
-          disp("zeros:\n")
-          cmd = "sys2 = zp([0.99258;0.99745],[0.99961;0.99242],1,0.001);";
-          disp(cmd);
-          eval(cmd);
-          cmd = "sysout(sys2)";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo view the system's bode plots, execute the following");
-          disp("command:\n")
-          cmd = "bode(sys2);";
-          run_cmd;
-          disp("Notice that the bode command is the same in both of the previous");
-          disp("examples.  The bode command is also the same for the continuous case.");
-          disp("The function, dbode, is no longer used.");
-
-          prompt
-          disp("")
-          clc
-          disp("\nExample #3, Now consider the following state space system:\n");
-          cmd = "sys3 = ss([.857, .0011; 0, .99930],[1;1],[-.6318, .0057096],5.2, .001);";
-          disp(cmd);
-          eval(cmd);
-          cmd = "sysout(sys3);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo view the system's bode plots, execute the following command:\n")
-          cmd = "bode(sys3);";
-          run_cmd;
-          disp("\nAgain, notice that the bode command is the same regardless of the form");
-          disp("of the system.");
-          disp("\nSuppose the user is interested in the response of the system");
-          disp("defined over the input frequency range of 1 - 1000 rad/s.\n");
-          disp("First, a frequency vector is required.  It can be created");
-          disp("with the command:\n");
-          cmd = "wrange = logspace(log10(1),log10(1000),100);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nThis creates a logrithmetically scaled frequency vector with");
-          disp("100 values between 1 and 1000 rad/s\n");
-          disp("Then, the bode command includes wrange in the input arguments");
-          disp("like this:");
-          cmd = "bode(sys3,wrange);";
-          run_cmd;
-          prompt;
-
-          disp("")
-          clc
-          disp("\nExample #4, We will now examine a MIMO state-space system.  Systems");
-          disp("two and three will be grouped.");
-          cmd = "[nn,nz] = sysdimensions(sys2);";
-          disp(cmd); eval(cmd);
-          cmd = "sys2 = syssetsignals(sys2,\"out\",\"y_sys2\");";
-          disp(cmd); eval(cmd);
-          cmd = "sys2 = syssetsignals(sys2,\"in\",\"u_sys2\");";
-          disp(cmd); eval(cmd);
-          cmd = "sys2 = syssetsignals(sys2,\"st\",__sysdefioname__(nn+nz,\"x_sys2\"));";
-          disp(cmd); eval(cmd);
-          cmd = "sys_mimo = sysgroup(sys2,sys3);";
-          disp(cmd); eval(cmd);
-          cmd = "sysout(sys_mimo);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo view the system's bode plots, execute the following command:\n")
-          cmd = "bode(sys_mimo);";
-          run_cmd;
-          prompt
-
-          disp("\nThe bode plot of a single channel is viewed as follows:")
-          cmd = "wrange = [];";
-          disp(cmd)
-          eval(cmd);
-          cmd = "out = 1;";
-          disp(cmd)
-          eval(cmd);
-          cmd = "in = 1;";
-          disp(cmd)
-          eval(cmd);
-          cmd = "bode(sys_mimo,wrange,out,in);";
-          run_cmd;
-          disp("\nNotice that this bode plot is the same as the plot from example 2.");
-          prompt
-          closeplot
-
-        elseif( k1 == 3 )
-          help bode
-          prompt
-        endif
-      endwhile
-    elseif (j == 2)
-      k2 = 0;
-      disp("");
-      while (k2 != 4)
-        disp("\n");
-        help nyquist
-        prompt;
-        disp("")
-        clc;
-
-        k2 = menu("Nyquist analysis (Nyquist)",
-                  "Continuous system nyquist analysis",
-                  "Discrete system nyquist analysis",
-                  "Mixed system nyquist analysis",
-                  "Return to frdemo menu");
-
-        if( k2 == 1 )
-          disp("")
-          clc
-          disp("\nContinuous system nyquist analysis\n");
-          disp("Display Nyquist plots of a SISO system (nyquist)\n")
-          disp("Example #1, Consider the following transfer function:\n")
-          cmd = "sys1 = tf(1, [1, 0.8, 1]);";
-          disp(cmd);
-          eval(cmd);
-          disp("To examine the transfer function, use the command:");
-          cmd = "sysout(sys1);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo examine the open loop zeros and poles, use the command:");
-          cmd = "sysout(sys1,""zp"");";
-          run_cmd;
-          disp("\nTo view the system""s nyquist plot, execute the following");
-          disp("command:\n")
-          cmd = "nyquist(sys1);";
-          run_cmd;
-          disp("\nIf the real and imaginary parts of the response are desired,");
-          disp("use the following command:");
-          disp("command: [R,I,w]=nyquist(sys1);\n");
-          disp("If the user desires to evaluate the response in a certain");
-          disp("frequency range, he may do so by entering the following:");
-          disp("command: [M,P,w]=nyquist(num,den,wrange).\n")
-          disp("wrange is a vector of frequencies that spans the desired");
-          disp("viewing range.\n");
-          disp("This will be illustrated in the third nyquist example.\n")
-          disp("Variable Description:\n")
-          disp("R => real part of response")
-          disp("I => imaginary part of response")
-          disp("w => frequencies that the transfer function was evaluated at")
-          disp("sys1 => system data structure")
-          disp("wrange => optional vector of frequencies")
-          disp("          if wrange is entered in the argument list, the");
-          disp("          system will be evaluated at these specific");
-          disp("          frequencies\n")
-          prompt
-
-          disp("")
-          clc
-          disp("Example #2, Consider the following set of poles and zeros:\n")
-          cmd = "sys2 = zp([-1;-4],[-2+1.4142i;-2-1.4142i],1);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo examine the poles and zeros, use the command:");
-          cmd = "sysout(sys2)";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo view the system""s nyquist plot, execute the following");
-          disp("command:\n")
-          cmd = "nyquist(sys2);";
-          run_cmd;
-          prompt
-
-          disp("")
-          clc
-          disp("\nExample #3, Consider the following state space system:\n")
-          cmd = "sys3 = ss([0, 1, 0, 0; 0, 0, 1, 0; 0, 0, 0, 1; 0, 0, -20, -12],[0;0;0;1],[50, 100, 0, 0],0);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo examine the state-space system, use the command:");
-          cmd = "sysout(sys3)";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo examine the poles and zeros, use the command:");
-          cmd = "sysout(sys3,""zp"")";
-          run_cmd;
-          disp("\nTo view the system""s nyquist plot, execute the following");
-          disp("commands:\n")
-          cmd = "nyquist(sys3);";
-          run_cmd;
-          prompt
-
-          disp("Example #3 (continued), If the user wishes to evaluate the");
-          disp("system response over a desired frequency range, he must first");
-          disp("create a frequency vector.\n")
-          disp("For example, suppose the user is interested in the response");
-          disp("of the system defined above over input frequency range of");
-          disp("3 - 100 rad/s.\n")
-          disp("A frequency vector can be created using the command:\n");
-          cmd = "wrange = logspace(log10(3),log10(100),100);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nNyquist can be run again using the frequency vector as");
-          disp("follows:\n")
-          cmd = "nyquist(sys3,wrange);";
-          run_cmd;
-          prompt
-
-          disp("")
-          clc
-          disp("Example #4,  Nyquist can be used for MIMO systems if the system has");
-          disp("an equal number of inputs and outputs.  Otherwise, nyquist returns");
-          disp("an error.  To examine a MIMO system, systems 2 and 3 will be grouped");
-          cmd = "[nn,nz] = sysdimensions(sys2);";
-          disp(cmd); eval(cmd);
-          cmd = "sys2 = syssetsignals(sys2,\"out\",\"y_sys2\");";
-          disp(cmd); eval(cmd);
-          cmd = "sys2 = syssetsignals(sys2,\"in\",\"u_sys2\");";
-          disp(cmd); eval(cmd);
-          cmd = "sys2 = syssetsignals(sys2,\"st\",__sysdefioname__(nn+nz,\"x_sys2\"));";
-          disp(cmd); eval(cmd);
-          cmd = "sys_mimo = sysgroup(sys2,sys3);";
-          disp(cmd); eval(cmd);
-          cmd = "sysout(sys_mimo);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo view the system's nyquist plot, execute the following command:\n")
-          cmd = "nyquist(sys_mimo);";
-          run_cmd;
-          prompt
-          disp("\nTo view the nyquist plots for selected  channels, the command form changes:")
-          cmd = "nyquist(sys_mimo,[],1,1);";
-          run_cmd;
-          disp("\nNotice that this bode plot is the same as the plot from example 2.");
-          prompt
-          closeplot
-
-
-
-        elseif( k2 == 2 )
-          disp("")
-          clc
-          disp("\nDiscrete system nyquist analysis\n");
-          disp("Display Nyquist plots of a discrete SISO system (nyquist)\n")
-          disp("We will first define a sampling time, T");
-          cmd = "T = 0.01;";
-          disp(cmd);
-          eval(cmd);
-          disp("\nExample #1, Consider the following transfer function:\n")
-          cmd = "sys1 = tf([2, -3.4, 1.5],[1, -1.6, 0.8],T);";
-          disp(cmd);
-          eval(cmd);
-          disp("To examine the transfer function, use the command:");
-          cmd = "sysout(sys1);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo examine the open loop zeros and poles, use the command:");
-          cmd = "sysout(sys1,""zp"")";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo view the system""s nyquist plot, execute the following");
-          disp("command:")
-          cmd = "nyquist(sys1);";
-          run_cmd;
-          disp("To change the range used for the frequency, a frequency");
-          disp("is needed.  Suppose the user would like to examine the");
-          disp("nyquist plot in the frequency range of 0.01 - 31.6 rad/s.");
-          disp("\nThe frequency vector needed to do this is created with the");
-          disp("command:");
-          cmd = "wrange = logspace(-2,1.5,200);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nNyquist can be run again with this frequency vector");
-          cmd = "nyquist(sys1,wrange);";
-          run_cmd;
-          disp("\nIf the real and imaginary parts of the response are desired,");
-          disp("perform the following command:\n");
-          disp("[R,I,w]=nyquist(sys,wrange)\n")
-          disp("Variable Description:\n")
-          disp("R => real part of response")
-          disp("I => imaginary part of response")
-          disp("w => frequencies that the transfer function was evaluated at")
-          disp("sys => The system data structure");
-          disp("wrange => optional vector of frequencies")
-          disp("          if wrange is entered in the argument list, the");
-          disp("          system will be evaluated at these specific");
-          prompt
-
-          disp("")
-          clc
-          disp("\nExample #2, Consider the following set of poles and zeros:\n")
-          cmd = "sys2 = zp([0.98025 + 0.01397i; 0.98025 - 0.01397i],[0.96079;0.99005],1,T);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo examine the open loop zeros and poles, use the command:");
-          cmd = "sysout(sys2)";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo view the system's nyquist plot between the frequencies");
-          disp("0.01 - 100 rad/s, execute the following commands:\n")
-          cmd = "wrange = logspace(-2,2,100);";
-          disp(cmd);
-          eval(cmd);
-          cmd = "nyquist(sys2,wrange);";
-          run_cmd;
-          prompt;
-
-          disp("")
-          clc
-          disp("\nExample #3, Consider the following discrete state space");
-          disp("system:\n");
-          disp("This example will use the same system used in the third");
-          disp("example in the continuous nyquist demo.  First, that system");
-          disp("will have to be re-entered useing the following commands:\n");
-          cmd = "sys3 = ss([0, 1, 0, 0; 0, 0, 1, 0; 0, 0, 0, 1; 0, 0, -20, -12],[0;0;0;1],[50, 100, 0, 0],0);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo examine the state-space system, use the command:");
-          cmd = "sysout(sys3)";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo examine the poles and zeros, use the command:");
-          cmd = "sysout(sys3,""zp"")";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo convert the system to discrete time, we need a sampling");
-          disp("time which can be entered like this:");
-          cmd = "T = 0.01";
-          disp(cmd);
-          eval(cmd);
-          disp("\nNow the command, c2d, is used to convert the system from");
-          disp("continuous to discrete time, with the following command");
-          cmd = "dsys3 = c2d(sys3,T);";
-          run_cmd;
-          disp("\nTo examine the new discrete state-space system, use the");
-          disp("command");
-          cmd = "sysout(dsys3);";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo examine the new discrete poles and zeros, use the command:");
-          cmd = "sysout(dsys3,""zp"")";
-          disp(cmd);
-          eval(cmd);
-          disp("\nTo view the system's nyquist plot, execute the following");
-          disp("commands:\n");
-          cmd = "axis ([-4, 2, -2.5, 2.5]);";
-          disp(cmd); eval(cmd);
-          cmd = "nyquist(dsys3);";
-          run_cmd;
-          disp("Notice that the asymptotes swamp out the behavior of the plot")
-          disp("near the origin.  You may use interactive nyquist plots")
-          disp("to \"zoom in\" on a plot as follows:")
-
-          cmd = "atol = 1;";
-          disp(cmd)
-          eval(cmd)
-          cmd = "nyquist(dsys3,[],[],[],atol);";
-          run_cmd
-          prompt
-
-
-          disp("")
-          clc
-          disp("MIMO SYSTEM:  Nyquist cannot be used for discrete MIMO systems");
-          disp("at this time.");
-          ## cmd = "dsys_mimo = sysgroup(sys2,dsys3);";
-          ## disp(cmd);
-          ## eval(cmd);
-          ## cmd = "sysout(dsys_mimo);";
-          ## disp(cmd);
-          ## eval(cmd);
-          ## disp("\nTo view the system's nyquist plot, execute the following command:\n")
-          ## cmd = "nyquist(dsys_mimo);";
-          ## run_cmd;
-          ## prompt
-          ## disp("\nTo view the nyquist plots for selected  channels, the command form changes:")
-          ## cmd = "nyquist(dsys_mimo,[],1,1);";
-          ## run_cmd;
-          ## disp("\nNotice that this bode plot is the same as the plot from example 2.");
-          prompt
-          closeplot
-
-
-        elseif( k2 == 3 )
-          disp("\nMixed system nyquist analysis\n");
-          disp("Nyquist exits with an error if it is passed a ""mixed"" system (one")
-          disp("with both continuous and discrete states).  Use c2d or d2c to")
-          disp("convert the system to either pure digital or pure continuous form");
-        endif
-      endwhile
-    elseif (j == 3)
-      help nichols
-      prompt
-    endif
-  endwhile
-
-endfunction
--- a/scripts/control/base/freqchkw.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,48 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2003, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} freqchkw (@var{w})
-## Used by @command{__freqresp__} to check that input frequency vector @var{w}
-## is valid.
-## Returns boolean value.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 1996
-
-function USEW = freqchkw (w)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-
-  if (isempty (w))
-    USEW = 0;
-  elseif (! isvector (w))
-    error ("w (%dx%d): must be [], a vector or a scalar",
-	   rows (w), columns (w));
-  elseif (max (abs (imag(w))) != 0 && min (real (w)) <= 0)
-    error ("w must have real positive entries");
-  else
-    w = sort (w);
-    USEW = 1;   ## vector provided (check values later)
-  endif
-
-endfunction
--- a/scripts/control/base/gram.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,40 +0,0 @@
-## Copyright (C) 1996, 2000, 2003, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} gram (@var{a}, @var{b})
-## Return controllability gramian @var{m} of the continuous time system
-## @math{dx/dt = a x + b u}.
-##
-## @var{m} satisfies @math{a m + m a' + b b' = 0}.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-
-function m = gram (a, b)
-
-  if (nargin != 2)
-    print_usage ();
-  endif
-
-  ## Let lyap do the error checking...
-
-  m = lyap (a, b*b');
-
-endfunction
--- a/scripts/control/base/impulse.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,91 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{y}, @var{t}] =} impulse (@var{sys}, @var{inp}, @var{tstop}, @var{n})
-## Impulse response for a linear system.
-## The system can be discrete or multivariable (or both).
-## If no output arguments are specified, @code{impulse}
-## produces a plot or the impulse response data for system @var{sys}.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## System data structure.
-## @item inp
-## Index of input being excited
-## @item tstop
-## The argument @var{tstop} (scalar value) denotes the time when the
-## simulation should end.
-## @item n
-## the number of data values.
-##
-## Both parameters @var{tstop} and @var{n} can be omitted and will be
-## computed from the eigenvalues of the A Matrix.
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item y
-## Values of the impulse response.
-## @item t
-## Times of the impulse response.
-## @end table
-## @seealso{step}
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: October 2, 1997
-## based on lsim.m of Scottedward Hodel
-## modified by
-
-function [y, t] = impulse (sys, inp, tstop, n)
-
-  if (nargin < 1 || nargin > 4)
-    print_usage ();
-  endif
-
-  if (! isstruct (sys))
-    error ("impulse: sys must be a system data structure.");
-  endif
-
-  if (nargout == 0)
-    switch (nargin)
-      case (1)
-        __stepimp__ (2, sys);
-      case (2)
-        __stepimp__ (2, sys, inp);
-      case (3)
-        __stepimp__ (2, sys, inp, tstop);
-      case (4)
-        __stepimp__ (2, sys, inp, tstop, n);
-    endswitch
-  else
-    switch (nargin)
-      case (1)
-        [y, t] = __stepimp__ (2, sys);
-      case (2)
-        [y, t] = __stepimp__ (2, sys, inp);
-      case (3)
-        [y, t] = __stepimp__ (2, sys, inp, tstop);
-      case (4)
-        [y, t] = __stepimp__ (2, sys, inp, tstop, n);
-    endswitch
-  endif
-
-endfunction
--- a/scripts/control/base/lqe.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,110 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{k}, @var{p}, @var{e}] =} lqe (@var{a}, @var{g}, @var{c}, @var{sigw}, @var{sigv}, @var{z})
-## Construct the linear quadratic estimator (Kalman filter) for the
-## continuous time system
-## @iftex
-## @tex
-## $$
-##  {dx\over dt} = A x + G u
-## $$
-## $$
-##  y = C x + v
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-##
-## @example
-## dx
-## -- = A x + G u
-## dt
-##
-## y = C x + v
-## @end example
-##
-## @end ifinfo
-## where @var{w} and @var{v} are zero-mean gaussian noise processes with
-## respective intensities
-##
-## @example
-## sigw = cov (w, w)
-## sigv = cov (v, v)
-## @end example
-##
-## The optional argument @var{z} is the cross-covariance
-## @code{cov (@var{w}, @var{v})}.  If it is omitted,
-## @code{cov (@var{w}, @var{v}) = 0} is assumed.
-##
-## Observer structure is @code{dz/dt = A z + B u + k (y - C z - D u)}
-##
-## The following values are returned:
-##
-## @table @var
-## @item k
-## The observer gain,
-## @iftex
-## @tex
-## $(A - K C)$
-## @end tex
-## @end iftex
-## @ifinfo
-## (@var{a} - @var{k}@var{c})
-## @end ifinfo
-## is stable.
-##
-## @item p
-## The solution of algebraic Riccati equation.
-##
-## @item e
-## The vector of closed loop poles of
-## @iftex
-## @tex
-## $(A - K C)$.
-## @end tex
-## @end iftex
-## @ifinfo
-## (@var{a} - @var{k}@var{c}).
-## @end ifinfo
-## @end table
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-
-function [k, p, e] = lqe (a, g, c, sigw, sigv, zz)
-
-  if (nargin != 5 && nargin != 6)
-    error ("lqe: invalid number of arguments");
-  endif
-
-  ## The problem is dual to the regulator design, so transform to lqr
-  ## call.
-
-  if (nargin == 5)
-    [k, p, e] = lqr (a', c', g*sigw*g', sigv);
-  else
-    [k, p, e] = lqr (a', c', g*sigw*g', sigv, g*zz);
-  endif
-
-  k = k';
-
-endfunction
--- a/scripts/control/base/lqg.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,167 +0,0 @@
-## Copyright (C) 1996, 1997, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{k}, @var{q1}, @var{p1}, @var{ee}, @var{er}] =} lqg (@var{sys}, @var{sigw}, @var{sigv}, @var{q}, @var{r}, @var{in_idx})
-## Design a linear-quadratic-gaussian optimal controller for the system
-## @example
-## dx/dt = A x + B u + G w       [w]=N(0,[Sigw 0    ])
-##     y = C x + v               [v]  (    0   Sigv ])
-## @end example
-## or
-## @example
-## x(k+1) = A x(k) + B u(k) + G w(k)   [w]=N(0,[Sigw 0    ])
-##   y(k) = C x(k) + v(k)              [v]  (    0   Sigv ])
-## @end example
-##
-## @strong{Inputs}
-## @table @var
-## @item  sys
-## system data structure
-## @item  sigw
-## @itemx  sigv
-## intensities of independent Gaussian noise processes (as above)
-## @item  q
-## @itemx  r
-## state, control weighting respectively.  Control @acronym{ARE} is
-## @item  in_idx
-## names or indices of controlled inputs (see @command{sysidx}, @command{cellidx})
-##
-## default: last dim(R) inputs are assumed to be controlled inputs, all
-## others are assumed to be noise inputs.
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item    k
-## system data structure format @acronym{LQG} optimal controller (Obtain A, B, C
-## matrices with @command{sys2ss}, @command{sys2tf}, or @command{sys2zp} as
-## appropriate).
-## @item    p1
-## Solution of control (state feedback) algebraic Riccati equation.
-## @item    q1
-## Solution of estimation algebraic Riccati equation.
-## @item    ee
-## Estimator poles.
-## @item    es
-## Controller poles.
-## @end table
-## @seealso{h2syn, lqe, lqr}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-## revised for new system format August 1996
-
-function [K, Q1, P1, Ee, Er] = lqg (sys, Sigw, Sigv, Q, R, input_list)
-
-  if (nargin < 5 || nargin > 6)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be in system data structure");
-  endif
-
-  DIG = is_digital (sys);
-  [A, B, C, D, tsam, n, nz, stname, inname, outname] = sys2ss (sys);
-  [n, nz, nin, nout] = sysdimensions (sys);
-  if (nargin == 5)
-    ## construct default input_list
-    input_list = (columns(Sigw)+1):nin;
-  endif
-
-  if (! (n+nz))
-    error("lqg: 0 states in system");
-
-  elseif (nin != columns (Sigw) + columns (R))
-    error ("lqg: sys has %d inputs, dim(Sigw)=%d, dim(u)=%d",
-	   nin, columns (Sigw), columns (R));
-
-  elseif (nout != columns (Sigv))
-    error ("lqg: sys has %d outputs, dim(Sigv)=%d", nout, columns (Sigv));
-  endif
-
-  ## check for names of signals
-  if (is_signal_list (input_list) || ischar (input_list))
-    input_list = sysidx (sys, "in", input_list);
-  endif
-
-  if (length (input_list) != columns (R))
-    error ("lqg: length(input_list)=%d, columns(R)=%d",
-	   length (input_list), columns (R));
-  endif
-
-  if (! issquare (Sigw))
-    error ("lqg: Sigw is not square");
-  endif
-
-  if (! issquare (Sigv))
-    error ("lqg: Sigv is not square");
-  endif
-
-  if (! issquare (Q))
-    error ("lqg: Q is not square");
-  endif
-
-  if (! issquare (R))
-    error ("lqg: Q is not square");
-  endif
-
-  ## permute (if need be)
-  if (nargin == 6)
-    all_inputs = sysreorder (nin, input_list);
-    B = B(:,all_inputs);
-    inname = inname (all_inputs);
-  endif
-
-  ## put parameters into correct variables
-  m1 = columns (Sigw);
-  m2 = m1+1;
-  G = B(:,1:m1);
-  B = B(:,m2:nin);
-
-  ## now we can just do the design; call dlqr and dlqe, since all matrices
-  ## are not given in Cholesky factor form (as in h2syn case)
-  if (DIG)
-    [Ks, P1, Er] = dlqr (A, B, Q, R);
-    [Ke, Q1, jnk, Ee] = dlqe (A, G, C, Sigw, Sigv);
-  else
-    [Ks, P1, Er] = lqr (A, B, Q, R);
-    [Ke, Q1, Ee] = lqe (A, G, C, Sigw, Sigv);
-  endif
-  Ac = A - Ke*C - B*Ks;
-  Bc = Ke;
-  Cc = -Ks;
-  Dc = zeros (rows (Cc), columns (Bc));
-
-  ## fix state names
-  stname1 = strappend (stname, "_e");
-
-  ## fix controller output names
-  outname1 = strappend (inname(m2:nin), "_K");
-
-  ## fix controller input names
-  inname1 = strappend (outname, "_K");
-
-  if (DIG)
-    K = ss (Ac, Bc, Cc, Dc, tsam, n, nz, stname1, inname1, outname1,
-	    1:rows(Cc));
-  else
-    K = ss (Ac, Bc, Cc, Dc, tsam, n, nz, stname, inname1, outname1);
-  endif
-
-endfunction
--- a/scripts/control/base/lqr.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,174 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{k}, @var{p}, @var{e}] =} lqr (@var{a}, @var{b}, @var{q}, @var{r}, @var{z})
-## construct the linear quadratic regulator for the continuous time system
-## @iftex
-## @tex
-## $$
-##  {dx\over dt} = A x + B u
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-##
-## @example
-## dx
-## -- = A x + B u
-## dt
-## @end example
-##
-## @end ifinfo
-## to minimize the cost functional
-## @iftex
-## @tex
-## $$
-##  J = \int_0^\infty x^T Q x + u^T R u
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-##
-## @example
-##       infinity
-##       /
-##   J = |  x' Q x + u' R u
-##      /
-##     t=0
-## @end example
-## @end ifinfo
-##
-## @noindent
-## @var{z} omitted or
-## @iftex
-## @tex
-## $$
-##  J = \int_0^\infty x^T Q x + u^T R u + 2 x^T Z u
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-##
-## @example
-##       infinity
-##       /
-##   J = |  x' Q x + u' R u + 2 x' Z u
-##      /
-##     t=0
-## @end example
-##
-## @end ifinfo
-## @var{z} included.
-##
-## The following values are returned:
-##
-## @table @var
-## @item k
-## The state feedback gain,
-## @iftex
-## @tex
-## $(A - B K)$
-## @end tex
-## @end iftex
-## @ifinfo
-## (@var{a} - @var{b}@var{k})
-## @end ifinfo
-## is stable and minimizes the cost functional
-##
-## @item p
-## The stabilizing solution of appropriate algebraic Riccati equation.
-##
-## @item e
-## The vector of the closed loop poles of
-## @iftex
-## @tex
-## $(A - B K)$.
-## @end tex
-## @end iftex
-## @ifinfo
-## (@var{a} - @var{b}@var{k}).
-## @end ifinfo
-## @end table
-##
-## @strong{Reference}
-## Anderson and Moore, @cite{Optimal control: linear quadratic methods},
-## Prentice-Hall, 1990, pp. 56--58.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993.
-
-function [k, p, e] = lqr (a, b, q, r, s)
-
-  ## disp("lqr: entry");
-
-  if (nargin != 4 && nargin != 5)
-    error ("lqr: invalid number of arguments");
-  endif
-
-  ## Check a.
-  if ((n = issquare (a)) == 0)
-    error ("lqr: requires 1st parameter(a) to be square");
-  endif
-
-  ## Check b.
-  [n1, m] = size (b);
-  if (n1 != n)
-    error ("lqr: a,b not conformal");
-  endif
-
-  ## Check q.
-  if ((n1 = issquare (q)) == 0 || n1 != n)
-    error ("lqr: q must be square and conformal with a");
-  endif
-
-  ## Check r.
-  if ((m1 = issquare(r)) == 0 || m1 != m)
-    error ("lqr: r must be square and conformal with column dimension of b");
-  endif
-
-  ## Check if n is there.
-  if (nargin == 5)
-    [n1, m1] = size (s);
-    if (n1 != n || m1 != m)
-      error ("lqr: z must be identically dimensioned with b");
-    endif
-
-    ## Incorporate cross term into a and q.
-    ao = a - (b/r)*s';
-    qo = q - (s/r)*s';
-  else
-    s = zeros (n, m);
-    ao = a;
-    qo = q;
-  endif
-
-  ## Check that q, (r) are symmetric, positive (semi)definite
-
-  if (issymmetric (q) && issymmetric (r)
-      && all (eig (q) >= 0) && all (eig (r) > 0))
-    p = are (ao, (b/r)*b', qo);
-    k = r\(b'*p + s');
-    e = eig (a - b*k);
-  else
-    error ("lqr: q (r) must be symmetric positive (semi) definite");
-  endif
-
-endfunction
--- a/scripts/control/base/lsim.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,108 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{y}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t}, @var{x0})
-## Produce output for a linear simulation of a system; produces
-## a plot for the output of the system, @var{sys}.
-##
-## @var{u} is an array that contains the system's inputs.  Each row in @var{u}
-## corresponds to a different time step.  Each column in @var{u} corresponds to a
-## different input.  @var{t} is an array that contains the time index of the
-## system; @var{t} should be regularly spaced.  If initial conditions are required
-## on the system, the @var{x0} vector should be added to the argument list.
-##
-## When the lsim function is invoked a plot is not displayed;
-## however, the data is returned in @var{y} (system output)
-## and @var{x} (system states).
-## @end deftypefn
-
-## Author: David Clem
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 1995
-## modified by John Ingram for system format August 1996
-
-function [y, x] = lsim (sys, u, t, x0)
-
-  if (nargin < 3 || nargin > 4)
-    print_usage ();
-  endif
-
-  if (! isstruct (sys))
-    error ("sys must be in system data structure");
-  endif
-
-  sys = sysupdate (sys,"ss");
-
-  [ncstates, ndstates, nin, nout] = sysdimensions (sys);
-  [a, b, c, d] = sys2ss (sys);
-
-  if (nargin == 3)
-    x0 = zeros (columns (a), 1);
-  endif
-
-  if (rows (u) != length (t))
-    error ("lsim: There should be an input value (row) for each time instant");
-  endif
-  if (columns (u) != columns (d))
-    error ("lsim: U and d should have the same number of inputs");
-  endif
-  if (columns (x0) > 1)
-    error ("lsim: Initial condition vector should have only one column");
-  endif
-  if (rows (x0) > rows (a))
-    error ("lsim: Initial condition vector is too large");
-  endif
-
-  Ts = 0;
-  t(2)-t(1);
-  u=u';
-  n = max (size (t));
-
-  if (isa (t, "single"))
-    tol = 10 * eps ("single");
-  else
-    tol = 10 * eps;
-  endif
-  for ii = 1:(n-1)
-    ## check if step size changed
-    ## FIXME -- this is probably not the best test, but it is
-    ## better than a test for exact equality.
-    if (abs (t(ii+1) - t(ii) - Ts) > tol)
-      Ts = t(ii+1) - t(ii);
-      ## [F,G] = c2d(a,b,Ts);
-      dsys = c2d (sys, Ts);
-      [F, G] = sys2ss (dsys);
-    endif
-
-    x(:,ii) = x0;
-    x0 = F*x0 + G*u(:,ii);
-  endfor
-
-  ## pick up last point
-  x(:,n) = x0;
-
-  y = c*x + d*u;
-  if (nargout == 0)
-   plot (t, y);
-   y = [];
-   x = [];
-  endif
-
-endfunction
--- a/scripts/control/base/ltifr.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,114 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{out} =} ltifr (@var{a}, @var{b}, @var{w})
-## @deftypefnx {Function File} {@var{out} =} ltifr (@var{sys}, @var{w})
-## Linear time invariant frequency response of single-input systems.
-##
-## @strong{Inputs}
-## @table @var
-## @item a
-## @itemx b
-## coefficient matrices of @math{dx/dt = A x + B u}
-## @item sys
-## system data structure
-## @item w
-## vector of frequencies
-## @end table
-## @strong{Output}
-## @table @var
-## @item out
-## frequency response, that is:
-## @end table
-## @iftex
-## @tex
-## $$ G(j\omega) = (j\omega I-A)^{-1}B $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##                            -1
-##              G(s) = (jw I-A) B
-## @end example
-## @end ifinfo
-## for complex frequencies @math{s = jw}.
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Author: David Clem
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 1995
-## updated by John Ingram August 1996 for system format
-
-function out = ltifr (a, b, w)
-
-  if (nargin < 2 || nargin > 3)
-    error("incorrect number of input arguments");
-  endif
-
-  if (nargin == 2)
-    sys = a;
-    w = b;
-    if(! isstruct (sys))
-      error ("two arguments: 1st must be a system data structure");
-    endif
-
-    if (! isvector (w))
-      error ("w must be a vector");
-    endif
-
-    [nn, nz, mm, pp] = sysdimensions (sys);
-    if (mm != 1)
-      error("sys has %d > 1 inputs", mm);
-    endif
-
-    [a, b] = sys2ss (sys);
-
-  else
-
-    if (columns (a) != rows (b)),
-      error ("ltifr:  A(%dx%d), B(%dx%d) not compatibly dimensioned",
-             rows (a), columns(a), rows(b), columns(b));
-    endif
-
-    if (columns (b) != 1)
-      error ("ltifr: b(%dx%d) must be a single column vector",
-             rows(b), columns(b));
-    endif
-
-    if (! issquare (a))
-      error ("ltifr:  A(%dx$d) must be square", rows(a), columns(a))
-    endif
-
-  endif
-
-  if (! isvector (w))
-    error ("w must be a vector");
-  endif
-
-  ey = eye (size (a));
-  lw = length (w);
-  out = ones (columns (a), lw);
-
-  for ii = 1:lw,
-    out(:,ii) = (w(ii)*ey-a)\b;
-  endfor
-
-endfunction
--- a/scripts/control/base/lyap.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,142 +0,0 @@
-## Copyright (C) 1996, 1997, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} lyap (@var{a}, @var{b}, @var{c})
-## @deftypefnx {Function File} {} lyap (@var{a}, @var{b})
-## Solve the Lyapunov (or Sylvester) equation via the Bartels-Stewart
-## algorithm (Communications of the @acronym{ACM}, 1972).
-##
-## If @var{a}, @var{b}, and @var{c} are specified, then @code{lyap} returns
-## the solution of the  Sylvester equation
-## @iftex
-## @tex
-##   $$ A X + X B + C = 0 $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##     a x + x b + c = 0
-## @end example
-## @end ifinfo
-## If only @code{(a, b)} are specified, then @command{lyap} returns the
-## solution of the Lyapunov equation
-## @iftex
-## @tex
-##   $$ A^T X + X A + B = 0 $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##     a' x + x a + b = 0
-## @end example
-## @end ifinfo
-## If @var{b} is not square, then @code{lyap} returns the solution of either
-## @iftex
-## @tex
-##   $$ A^T X + X A + B^T B = 0 $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##     a' x + x a + b' b = 0
-## @end example
-## @end ifinfo
-## @noindent
-## or
-## @iftex
-## @tex
-##   $$ A X + X A^T + B B^T = 0 $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##     a x + x a' + b b' = 0
-## @end example
-## @end ifinfo
-## @noindent
-## whichever is appropriate.
-##
-## Solves by using the Bartels-Stewart algorithm (1972).
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-## Adapted-By: jwe
-
-function x = lyap (a, b, c)
-
-  if (nargin != 3 && nargin != 2)
-    print_usage ();
-  endif
-
-  if ((n = issquare(a)) == 0)
-    error ("lyap: a is not square");
-  endif
-
-  if (nargin == 2)
-
-    ## Transform Lyapunov equation to Sylvester equation form.
-
-    if ((m = issquare (b)) == 0)
-      if ((m = rows (b)) == n)
-
-        ## solve a x + x a' + b b' = 0
-
-        b = b * b';
-        a = a';
-      else
-
-        ## Try to solve a'x + x a + b' b = 0.
-
-        m = columns (b);
-        b = b' * b;
-      endif
-
-      if (m != n)
-        error ("lyap: a, b not conformably dimensioned");
-      endif
-    endif
-
-    ## Set up Sylvester equation.
-
-    c = b;
-    b = a;
-    a = b';
-
-  else
-
-    ## Check dimensions.
-
-    if ((m = issquare (b)) == 0)
-      error ("lyap: b must be square in a sylvester equation");
-    endif
-
-    [n1, m1] = size(c);
-
-    if (n != n1 || m != m1)
-      error("lyap: a,b,c not conformably dimensioned");
-    endif
-  endif
-
-  ## Call octave built-in function.
-
-  x = syl (a, b, c);
-
-endfunction
--- a/scripts/control/base/nichols.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,150 +0,0 @@
-## Copyright (C) 1998, 2000, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{mag}, @var{phase}, @var{w}] =} nichols (@var{sys}, @var{w}, @var{outputs}, @var{inputs})
-## Produce Nichols plot of a system.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## System data structure (must be either purely continuous or discrete;
-## see @command{is_digital}).
-## @item w
-## Frequency values for evaluation.
-## @itemize
-## @item if sys is continuous, then nichols evaluates @math{G(jw)}.
-## @item if sys is discrete, then nichols evaluates @math{G(exp(jwT))},
-## where @var{T}=@var{sys}. @var{tsam} is the system sampling time.
-## @item the default frequency range is selected as follows (These
-##        steps are @strong{not} performed if @var{w} is specified):
-## @enumerate
-## @item via routine @command{__bodquist__}, isolate all poles and zeros away from
-## @var{w}=0 (@math{jw=0} or @math{exp(jwT)=1}) and select the frequency range
-## based on the breakpoint locations of the frequencies.
-## @item if sys is discrete time, the frequency range is limited to jwT in
-## @iftex
-## @tex
-## $ [0, 2p\pi] $.
-## @end tex
-## @end iftex
-## @ifinfo
-## [0,2p*pi].
-## @end ifinfo
-## @item A ``smoothing'' routine is used to ensure that the plot phase does
-## not change excessively from point to point and that singular points
-## (e.g., crossovers from +/- 180) are accurately shown.
-## @end enumerate
-## @end itemize
-## @item outputs
-## @itemx inputs
-## the names or indices of the output(s) and input(s) to be used in the
-## frequency response; see @command{sysprune}.
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item mag
-## @itemx phase
-## The magnitude and phase of the frequency response @math{G(jw)} or
-## @math{G(exp(jwT))} at the selected frequency values.
-## @item w
-## The vector of frequency values used.
-## @end table
-## If no output arguments are given, @command{nichols} plots the results to the screen.
-## Descriptive labels are automatically placed. See @command{xlabel},
-## @command{ylabel}, and @command{title}.
-##
-## Note: if the requested plot is for an @acronym{MIMO} system, @var{mag} is set to
-## @iftex
-## @tex
-## $ \Vert G(jw) \Vert $ or $ \Vert G( {\rm exp}(jwT) \Vert $
-## @end tex
-## @end iftex
-## @ifinfo
-## ||G(jw)|| or ||G(exp(jwT))||
-## @end ifinfo
-## and phase information is not computed.
-## @end deftypefn
-
-function [mag2, phase2, w2] = nichols (sys, w, outputs, inputs)
-
-  ## check number of input arguments given
-  if (nargin < 1 || nargin > 4)
-    print_usage ();
-  endif
-  if (nargin < 2)
-    w = [];
-  endif
-  if (nargin < 3)
-    outputs = [];
-  endif
-  if (nargin < 4)
-    inputs = [];
-  endif
-
-  [f, w, sys] = __bodquist__ (sys, w, outputs, inputs, "nichols");
-
-  [stname, inname, outname] = sysgetsignals (sys);
-  systsam = sysgettsam (sys);
-
-  ## Get the magnitude and phase of f.
-  mag = abs (f);
-  phase = arg (f)*180.0/pi;
-
-  if (nargout < 1),
-    ## Plot the information
-
-    if (max (mag) > 0)
-      md = 20 * log10 (mag);
-      plot (phase, md);
-      ylabel ("Gain in dB");
-    else
-      md = mag;
-      plot (phase, md);
-      ylabel ("Gain |Y/U|")
-    endif
-
-    grid ("on");
-
-    if (is_digital (sys))
-      tistr = "(exp(jwT)) ";
-    else
-      tistr = "(jw)";
-    endif
-
-    xlabel ("Phase (deg)");
-
-    if (is_siso (sys))
-      title (sprintf ("Nichols plot of |[Y/U]%s|, u=%s, y=%s", tistr,
-		      sysgetsignals (sys, "in", 1, 1),
-		      sysgetsignals (sys, "out", 1, 1)));
-    else
-      title ([ "||Y(", tistr, ")/U(", tistr, ")||"]);
-      printf ("MIMO plot from\n%s\nto\n%s\n", __outlist__ (inname, "    "),
-              __outlist__ (outname, "       "));
-    endif
-
-    axis (axis2dlim ([phase(:), md(:)]));
-  else
-    mag2 = mag;
-    phase2 = phase;
-    w2 = w;
-  endif
-
-endfunction
--- a/scripts/control/base/nyquist.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,211 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{realp}, @var{imagp}, @var{w}] =} nyquist (@var{sys}, @var{w}, @var{out_idx}, @var{in_idx}, @var{atol})
-## @deftypefnx {Function File} {} nyquist (@var{sys}, @var{w}, @var{out_idx}, @var{in_idx}, @var{atol})
-## Produce Nyquist plots of a system; if no output arguments are given, Nyquist
-## plot is printed to the screen.
-##
-## Compute the frequency response of a system.
-##
-## @strong{Inputs} (pass as empty to get default values)
-## @table @var
-## @item sys
-## system data structure (must be either purely continuous or discrete;
-## see @code{is_digital})
-## @item w
-## frequency values for evaluation.
-## If sys is continuous, then bode evaluates @math{G(@var{jw})};
-## if sys is discrete, then bode evaluates @math{G(exp(@var{jwT}))},
-## where @var{T} is the system sampling time.
-## @item default
-## the default frequency range is selected as follows: (These
-## steps are @strong{not} performed if @var{w} is specified)
-## @enumerate
-## @item via routine @command{__bodquist__}, isolate all poles and zeros away from
-## @var{w}=0 (@var{jw}=0 or @math{exp(@var{jwT})=1}) and select the frequency
-## range based on the breakpoint locations of the frequencies.
-## @item if @var{sys} is discrete time, the frequency range is limited
-## to @var{jwT} in
-## @ifinfo
-## [0,2p*pi]
-## @end ifinfo
-## @iftex
-## @tex
-## $ [ 0,2  p \pi ] $
-## @end tex
-## @end iftex
-## @item A ``smoothing'' routine is used to ensure that the plot phase does
-## not change excessively from point to point and that singular
-## points (e.g., crossovers from +/- 180) are accurately shown.
-## @end enumerate
-## @item   atol
-## for interactive nyquist plots: atol is a change-in-slope tolerance
-## for the of asymptotes (default = 0; 1e-2 is a good choice).  This allows
-## the user to ``zoom in'' on portions of the Nyquist plot too small to be
-## seen with large asymptotes.
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item    realp
-## @itemx   imagp
-## the real and imaginary parts of the frequency response
-## @math{G(jw)} or @math{G(exp(jwT))} at the selected frequency values.
-## @item w
-## the vector of frequency values used
-## @end table
-##
-## If no output arguments are given, nyquist plots the results to the screen.
-## If @var{atol} != 0 and asymptotes are detected then the user is asked
-## interactively if they wish to zoom in (remove asymptotes)
-## Descriptive labels are automatically placed.
-##
-## Note: if the requested plot is for an @acronym{MIMO} system, a warning message is
-## presented; the returned information is of the magnitude
-## @iftex
-## @tex
-## $ \Vert G(jw) \Vert $ or $ \Vert G( {\rm exp}(jwT) \Vert $
-## @end tex
-## @end iftex
-## @ifinfo
-## ||G(jw)|| or ||G(exp(jwT))||
-## @end ifinfo
-## only; phase information is not computed.
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: July 13, 1994
-## A. S. Hodel July 1995 (adaptive frequency spacing,
-##     remove acura parameter, etc.)
-## Revised by John Ingram July 1996 for system format
-
-function [realp, imagp, w] = nyquist (sys, w, outputs, inputs, atol)
-
-  ## Both bode and nyquist share the same introduction, so the common
-  ## parts are in a file called __bodquist__.m.  It contains the part that
-  ## finds the number of arguments, determines whether or not the system
-  ## is SISO, andd computes the frequency response.  Only the way the
-  ## response is plotted is different between the two functions.
-
-  ## check number of input arguments given
-  if (nargin < 1 || nargin > 5)
-    print_usage ();
-  endif
-  if (nargin < 2)
-    w = [];
-  endif
-  if (nargin < 3)
-    outputs = [];
-  endif
-  if (nargin < 4)
-    inputs = [];
-  endif
-  if (nargin < 5)
-    atol = 0;
-  elseif (! (is_sample (atol) || atol == 0))
-    error ("nyquist: atol must be a nonnegative scalar")
-  endif
-
-  ## signal to __bodquist__ who's calling
-
-  [f, w, sys] = __bodquist__ (sys, w, outputs, inputs, "nyquist");
-
-  ## Get the real and imaginary part of f.
-  realp = real (f);
-  imagp = imag (f);
-
-  ## No output arguments, then display plot, otherwise return data.
-  if (nargout == 0)
-    dnplot = 0;
-    while (! dnplot)
-      plot (realp, imagp, "- ;+w;", realp, -imagp, "-@ ;-w;");
-
-      grid ("on");
-
-      if (is_digital (sys))
-        tstr = " G(e^{jw}) ";
-      else
-        tstr = " G(jw) ";
-      endif
-      xlabel (sprintf ("Re(%s)", tstr));
-      ylabel (sprintf ("Im(%s)", tstr));
-
-      [stn, inn, outn] = sysgetsignals (sys);
-      if (is_siso (sys))
-        title (sprintf ("Nyquist plot from %s to %s, w (rad/s) in [%e, %e]",
-			inn{1}, outn{1}, w(1), w(end)));
-      endif
-
-      axis (axis2dlim ([[realp(:), imagp(:)]; [realp(:), -imagp(:)]]));
-
-      ## check for interactive plots
-      dnplot = 1; # assume done; will change later if atol is satisfied
-      if (atol > 0 && length (f) > 2)
-
-        ## check for asymptotes
-        fmax = max (abs (f));
-        fi = find (abs (f) == fmax, 1, "last");
-
-        ## compute angles from point to point
-        df = diff (f);
-        th = atan2 (real (df), imag (df)) * 180 / pi;
-
-        ## get angle at fmax
-        if (fi == length (f))
-	  fi = fi-1;
-	endif
-        thm = th(fi);
-
-        ## now locate consecutive angles within atol of thm
-        ith_same = find (abs (th - thm) < atol);
-        ichk = union (fi, find (diff (ith_same) == 1));
-
-        ## locate max, min consecutive indices in ichk
-        loval = max (complement (ichk, 1:fi));
-        if (isempty (loval))
-	  loval = fi;
-        else
-          loval = loval + 1;
-	endif
-
-        hival = min (complement (ichk, fi:length(th)));
-        if (isempty (hival))
-	  hival = fi+1;
-	endif
-
-        keep_idx = complement (loval:hival, 1:length(w));
-
-        if (length (keep_idx))
-          resp = input ("Remove asymptotes and zoom in (y or n): ", 1);
-          if (resp(1) == "y")
-            dnplot = 0;                 # plot again
-            w = w(keep_idx);
-            f = f(keep_idx);
-            realp = real (f);
-            imagp = imag (f);
-          endif
-        endif
-
-     endif
-   endwhile
-   w = realp = imagp = [];
- endif
-
-endfunction
--- a/scripts/control/base/obsv.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,75 +0,0 @@
-## Copyright (C) 1997, 2000, 2002, 2004, 2005, 2006, 2007 Kai P. Mueller
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} obsv (@var{sys}, @var{c})
-## @deftypefnx {Function File} {} obsv (@var{a}, @var{c})
-## Build observability matrix:
-## @iftex
-## @tex
-## $$ Q_b = \left[ \matrix{  C       \cr
-##                           CA    \cr
-##                           CA^2  \cr
-##                           \vdots  \cr
-##                           CA^{n-1} } \right ] $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## @group
-##      | C        |
-##      | CA       |
-## Qb = | CA^2     |
-##      | ...      |
-##      | CA^(n-1) |
-## @end group
-## @end example
-## @end ifinfo
-## of a system data structure or the pair (@var{a}, @var{c}).
-##
-## The numerical properties of @command{is_observable}
-## are much better for observability tests.
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: November 4, 1997
-
-function Qb = obsv (sys, c)
-
-  if (nargin == 2)
-    a = sys;
-  elseif (nargin == 1 && isstruct(sys))
-    sysupdate (sys, "ss");
-    [a, b, c] = sys2ss (sys);
-  else
-    print_usage ();
-  endif
-
-  if (! is_abcd (a, c'))
-    Qb = [];
-  else
-    ## no need to check dimensions, we trust is_abcd().
-    [na, ma] = size (a);
-    [nc, mc] = size (c);
-    Qb = zeros (na*nc, ma);
-    for i = 1:na
-      Qb((i-1)*nc+1:i*nc, :) = c;
-      c = c * a;
-    endfor
-  endif
-endfunction
--- a/scripts/control/base/place.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,126 +0,0 @@
-## Copyright (C) 1997, 2000, 2002, 2003, 2004, 2005, 2007
-##               Jose Daniel Munoz Frias
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{K} =} place (@var{sys}, @var{p})
-## Computes the matrix @var{K} such that if the state
-## is feedback with gain @var{K}, then the eigenvalues  of the closed loop
-## system (i.e. @math{A-BK}) are those specified in the vector @var{p}.
-##
-## Version: Beta (May-1997): If you have any comments, please let me know.
-## (see the file place.m for my address)
-## @end deftypefn
-
-## Author: Jose Daniel Munoz Frias
-
-## Universidad Pontificia Comillas
-## ICAIdea
-## Alberto Aguilera, 23
-## 28015 Madrid, Spain
-##
-## E-Mail: daniel@dea.icai.upco.es
-##
-## Phone: 34-1-5422800   Fax: 34-1-5596569
-##
-## Algorithm taken from "The Control Handbook", IEEE press pp. 209-212
-##
-## code adaped by A.S.Hodel (a.s.hodel@eng.auburn.edu) for use in controls
-## toolbox
-
-function K = place (sys, P)
-
-  if (nargin != 2)
-    print_usage ();
-  endif
-
-  ## check arguments
-
-  if (! isstruct (sys))
-    error ("sys must be in system data structure format (see ss)");
-  endif
-  sys = sysupdate (sys, "ss");    # make sure it has state space form up to date
-  if (! is_controllable (sys))
-    error ("sys is not controllable");
-  elseif (min (size (P)) != 1)
-    error ("P must be a vector")
-  else
-    P = P(:); # make P a column vector
-  endif
-  ## system must be purely continuous or discrete
-  is_digital (sys);
-  [n, nz, m, p] = sysdimensions (sys);
-  nx = n+nz;    # already checked that it's not a mixed system.
-  if (m != 1)
-    error ("sys has %d inputs; need only 1", m);
-  endif
-
-  ## takes the A and B matrix from the system representation
-  [A, B] = sys2ss (sys);
-  sp = length (P);
-  if (nx == 0)
-    error ("place: A matrix is empty (0x0)");
-  elseif (nx != length (P))
-    error ("A=(%dx%d), P has %d entries", nx, nx, length (P))
-  endif
-
-  ## arguments appear to be compatible; let's give it a try!
-  ## The second step is the calculation of the characteristic polynomial ofA
-  PC = poly (A);
-
-  ## Third step: Calculate the transformation matrix T that transforms the state
-  ## equation in the controllable canonical form.
-
-  ## first we must calculate the controllability matrix M:
-  M = B;
-  AA = A;
-  for n = 2:nx
-    M(:,n) = AA*B;
-    AA = AA*A;
-  endfor
-
-  ## second, construct the matrix W
-  PCO = PC(nx:-1:1);
-  PC1 = PCO;      # Matrix to shift and create W row by row
-
-  for n = 1:nx
-    W(n,:) = PC1;
-    PC1 = [PCO(n+1:nx), zeros(1,n)];
-  endfor
-
-  T = M*W;
-
-  ## finaly the matrix K is calculated
-  PD = poly (P); # The desired characteristic polynomial
-  PD = PD(nx+1:-1:2);
-  PC = PC(nx+1:-1:2);
-
-  K = (PD-PC)/T;
-
-  ## Check if the eigenvalues of (A-BK) are the same specified in P
-  Pcalc = eig (A-B*K);
-
-  Pcalc = sortcom (Pcalc);
-  P = sortcom (P);
-
-  if (max ((abs(Pcalc)-abs(P))./abs(P) ) > 0.1)
-    warning ("place: Pole placed at more than 10% relative error from specified");
-  endif
-
-endfunction
-
--- a/scripts/control/base/pzmap.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,89 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{zer}, @var{pol}] =} pzmap (@var{sys})
-## Plots the zeros and poles of a system in the complex plane.
-##
-## @strong{Input}
-## @table @var
-## @item sys
-## System data structure.
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item pol
-## @item zer
-## if omitted, the poles and zeros are plotted on the screen.
-## otherwise, @var{pol} and @var{zer} are returned as the
-## system poles and zeros (see @command{sys2zp} for a preferable function call).
-## @end table
-## @end deftypefn
-
-function [zer, pol] = pzmap (sys)
-
-  if (nargin != 1)
-    print_usage ();
-  elseif (! isstruct (sys));
-    error ("pzmap: sys must be in system format");
-  endif
-
-  [zer, pol] = sys2zp (sys);
-
-  ## force to column vectors, split into real, imaginary parts
-  zerdata = poldata = [];
-  if (length (zer))
-    zer = reshape (zer, length (zer), 1);
-    zerdata = [real(zer(:,1)), imag(zer(:,1))];
-  endif
-  if (length (pol))
-    pol = reshape (pol, length (pol), 1);
-    poldata = [real(pol(:,1)), imag(pol(:,1))];
-  endif
-
-  ## determine continuous or discrete plane
-  vars = "sz";
-  varstr = vars(is_digital (sys) + 1);
-
-  ## Plot the data
-
-  if (length (zer) == 0)
-    plot (poldata(:,1), poldata(:,2), "@12 ;poles (no zeros);");
-  elseif (length (pol) == 0)
-    plot (zerdata(:,1), zerdata(:,2), "@31 ;zeros (no poles);");
-  else
-    plot (zerdata(:,1), zerdata(:,2), "@31 ;zeros;",
-	  poldata(:,1), poldata(:,2), "@12 ;poles;");
-  endif
-
-  if (is_siso (sys))
-    title (sprintf ("Pole-zero map from %s to %s",
-		    sysgetsignals (sys, "in", 1, 1),
-		    sysgetsignals (sys, "out", 1, 1)));
-  endif
-
-  xlabel (sprintf ("Re(%s)", varstr));
-  ylabel (sprintf ("Im(%s)", varstr));
-  grid ("on");
-
-  ## compute axis limits
-  axis (axis2dlim ([zerdata; poldata]));
-
-endfunction
--- a/scripts/control/base/rldemo.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,302 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} rldemo (@var{inputs})
-## Octave Control toolbox demo: Root Locus demo.
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 15, 1994
-## Updated by John Ingram December 1996
-
-function rldemo ()
-
-  while (1)
-    clc
-    k = menu("Octave Root Locus Demo", ...
-        "Display continuous system's open loop poles and zeros (pzmap)", ...
-        "Display discrete system's open loop poles and zeros (pzmap)", ...
-        "Display root locus diagram of SISO continuous system (rlocus)", ...
-        "Display root locus diagram of SISO discrete system (rlocus)", ...
-        "Return to main demo menu");
-    if (k == 1)
-      clc
-      help pzmap
-      prompt
-
-      clc
-      disp("Display continuous system's open loop poles and zeros (pzmap)\n");
-      disp("Example #1, Consider the following continuous transfer function:");
-      cmd = "sys1 = tf([1.5, 18.5, 6], [1, 4, 155, 302, 5050]);";
-      disp(cmd);
-      eval(cmd);
-      cmd ="sysout(sys1);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nPole-zero form can be obtained as follows:");
-      cmd = "sysout(sys1,""zp"");";
-      disp(cmd);
-      eval(cmd);
-      disp("View the system's open loop poles and zeros with the command:")
-      cmd = "pzmap(sys1);";
-      run_cmd
-      prompt
-
-      clc
-      disp("Example #2, Consider the following set of poles and zeros:");
-      cmd = "sys2 = zp([-1, 5, -23],[-1, -10, -7+5i, -7-5i],5);";
-      disp(cmd);
-      eval(cmd);
-      cmd = "sysout(sys2);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nThe pzmap command for the zp form is the same as the tf form:")
-      cmd = "pzmap(sys2);";
-      run_cmd;
-      disp("\nThe internal representation of the system is not important;");
-      disp("pzmap automatically sorts it out internally.");
-      prompt;
-
-      clc
-      disp("Example #3, Consider the following state space system:\n");
-      cmd = "sys3=ss([0, 1; -10, -11], [0; 1], [0, -2], 1);";
-      disp(cmd);
-      eval(cmd);
-      cmd = "sysout(sys3);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nPole-zero form can be obtained as follows:");
-      cmd = "sysout(sys3,""zp"");";
-      disp(cmd);
-      eval(cmd);
-      disp("\nOnce again, the pzmap command is the same:");
-      cmd = "pzmap(sys3);";
-      run_cmd;
-      prompt;
-
-      closeplot
-      clc
-
-    elseif (k == 2)
-      clc
-      help pzmap
-      prompt
-
-      clc
-      disp("\nDisplay discrete system's open loop poles and zeros (pzmap)\n");
-      disp("First we must define a sampling time, as follows:\n");
-      cmd = "Tsam = 1;";
-      run_cmd;
-      disp("Example #1, Consider the following discrete transfer function:");
-      cmd = "sys1 = tf([1.05, -0.09048], [1, -2, 1],Tsam);";
-      disp(cmd);
-      eval(cmd);
-      cmd ="sysout(sys1);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nPole-zero form can be obtained as follows:");
-      cmd = "sysout(sys1,""zp"");";
-      disp(cmd);
-      eval(cmd);
-      disp("View the system's open loop poles and zeros with the command:")
-      cmd = "pzmap(sys1);";
-      run_cmd
-      prompt
-
-      clc
-      disp("Example #2, Consider the following set of discrete poles and zeros:");
-      cmd = "sys2 = zp(-0.717, [1, -0.368], 3.68, Tsam);";
-      disp(cmd);
-      eval(cmd);
-      cmd = "sysout(sys2);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nThe pzmap command for the zp form is the same as the tf form:")
-      cmd = "pzmap(sys2);";
-      run_cmd;
-      disp("\nThe internal representation of the system is not important;");
-      disp("pzmap automatically sorts it out internally.");
-      prompt;
-
-      clc
-      disp("Example #3, Consider the following discrete state space system:\n");
-      cmd = "sys3=ss([1, 0.0952; 0, 0.905], [0.00484; 0.0952], [1, 0], 0, Tsam);";
-      disp(cmd);
-      eval(cmd);
-      cmd = "sysout(sys3);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nPole-zero form can be obtained as follows:");
-      cmd = "sysout(sys3,""zp"");";
-      disp(cmd);
-      eval(cmd);
-      disp("\nOnce again, the pzmap command is the same:");
-      cmd = "pzmap(sys3);";
-      run_cmd;
-      prompt;
-
-      closeplot
-      clc
-
-    elseif (k == 3)
-      clc
-      help rlocus
-      prompt;
-
-      clc
-      disp("Display root locus of a continuous SISO system (rlocus)\n")
-      disp("Example #1, Consider the following continuous transfer function:");
-      cmd = "sys1 = tf([1.5, 18.5, 6],[1, 4, 155, 302, 5050]);";
-      disp(cmd);
-      eval(cmd);
-      cmd ="sysout(sys1);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nPole-zero form can be obtained as follows:");
-      cmd = "sysout(sys1,""zp"");";
-      disp(cmd);
-      eval(cmd);
-      disp("\nWhen using rlocus, inital system poles are displayed as X's.")
-      disp("Moving poles are displayed as diamonds.  Zeros are displayed as")
-      disp("boxes.  The simplest form of the rlocus command is as follows:")
-      cmd = "rlocus(sys1);";
-      run_cmd
-      disp("\nrlocus automatically selects the minimum and maximum gains based")
-      disp("on the real-axis locus breakpoints.  The plot limits are chosen")
-      disp("to be no more than 10 times the maximum magnitude of the open")
-      disp("loop poles/zeros.");
-      prompt
-
-      clc
-      disp("Example #2, Consider the following set of poles and zeros:");
-      cmd = "sys2 = zp([],[0, -20, -2, -0.1],5);";
-      disp(cmd);
-      eval(cmd);
-      cmd = "sysout(sys2);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nThe rlocus command for the zp form is the same as the tf form:")
-      cmd = "rlocus(sys2);";
-      run_cmd;
-      disp("\nThe internal representation of the system is not important;");
-      disp("rlocus automatically sorts it out internally.");
-      prompt;
-
-      clc
-      disp("Example #3, Consider the following state space system:\n");
-      cmd = "sys3=ss([0, 1; -10, -11], [0; 1], [0, -2], 0);";
-      disp(cmd);
-      eval(cmd);
-      cmd = "sysout(sys3);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nPole-zero form can be obtained as follows:");
-      cmd = "sysout(sys3,""zp"");";
-      disp(cmd);
-      eval(cmd);
-      disp("\nOnce again, the rlocus command is the same:");
-      cmd = "rlocus(sys3);";
-      run_cmd;
-
-      disp("\nNo matter what form the system is in, the rlocus command works the");
-      disp("the same.");
-      prompt;
-
-      closeplot
-      clc
-
-    elseif (k == 4)
-      clc
-      help rlocus
-      prompt
-
-      clc
-      disp("Display root locus of a discrete SISO system (rlocus)\n")
-      disp("First we must define a sampling time, as follows:\n");
-      cmd = "Tsam = 1;";
-      run_cmd;
-      disp("Example #1, Consider the following discrete transfer function:");
-      cmd = "sys1 = tf([1.05, -0.09048],[1, -2, 1],Tsam);";
-      disp(cmd);
-      eval(cmd);
-      cmd ="sysout(sys1);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nPole-zero form can be obtained as follows:");
-      cmd = "sysout(sys1,""zp"");";
-      disp(cmd);
-      eval(cmd);
-      disp("\nWhen using rlocus, inital system poles are displayed as X's.")
-      disp("Moving poles are displayed as diamonds.  Zeros are displayed as")
-      disp("boxes.  The simplest form of the rlocus command is as follows:")
-      cmd = "rlocus(sys1);";
-      run_cmd
-      disp("\nrlocus automatically selects the minimum and maximum gains based")
-      disp("on the real-axis locus breakpoints.  The plot limits are chosen")
-      disp("to be no more than 10 times the maximum magnitude of the open")
-      disp("loop poles/zeros.");
-      prompt
-
-      clc
-      disp("Example #2, Consider the following set of discrete poles and zeros:");
-      cmd = "sys2 = zp(-0.717, [1, -0.368], 3.68, Tsam);";
-      disp(cmd);
-      eval(cmd);
-      cmd = "sysout(sys2);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nThe rlocus command for the zp form is the same as the tf form:")
-      cmd = "rlocus(sys2);";
-      run_cmd;
-      disp("\nThe internal representation of the system is not important;");
-      disp("rlocus automatically sorts it out internally.  Also, it does not");
-      disp("matter if the system is continuous or discrete.  rlocus also sorts");
-      disp("this out automatically");
-      prompt;
-
-      clc
-      disp("Example #3, Consider the following discrete state space system:\n");
-      cmd = "sys3=ss([1, 0.0952; 0, 0.905], [0.00484; 0.0952], [1, 0], 0, Tsam);";
-      disp(cmd);
-      eval(cmd);
-      cmd = "sysout(sys3);";
-      disp(cmd);
-      eval(cmd);
-      disp("\nPole-zero form can be obtained as follows:");
-      cmd = "sysout(sys3,""zp"");";
-      disp(cmd);
-      eval(cmd);
-      disp("\nOnce again, the rlocus command is the same:");
-      cmd = "rlocus(sys3);";
-      run_cmd;
-
-      disp("\nNo matter what form the system is in, the rlocus command works the");
-      disp("the same.");
-
-      prompt;
-
-      closeplot
-      clc
-
-    elseif (k == 5)
-      return
-    endif
-  endwhile
-endfunction
--- a/scripts/control/base/rlocus.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,331 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{rldata}, @var{k}] =} rlocus (@var{sys}[, @var{increment}, @var{min_k}, @var{max_k}])
-##
-## Display root locus plot of the specified @acronym{SISO} system.
-## @example
-## @group
-##        -----   ---     --------
-##    --->| + |---|k|---->| SISO |----------->
-##        -----   ---     --------        |
-##        - ^                             |
-##          |_____________________________|
-## @end group
-## @end example
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## system data structure
-## @item min_k
-## Minimum value of @var{k}
-## @item max_k
-## Maximum value of @var{k}
-## @item increment
-## The increment used in computing gain values
-## @end table
-##
-## @strong{Outputs}
-##
-## Plots the root locus to the screen.
-## @table @var
-## @item rldata
-## Data points plotted: in column 1 real values, in column 2 the imaginary values.
-## @item k
-## Gains for real axis break points.
-## @end table
-## @end deftypefn
-
-## Author: David Clem
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Updated by Kristi McGowan July 1996 for intelligent gain selection
-## Updated by John Ingram July 1996 for systems
-
-function [rldata, k_break, rlpol, gvec, real_ax_pts] = rlocus (sys, increment, min_k, max_k)
-
-  if (nargin < 1 || nargin > 4)
-    print_usage ();
-  endif
-
-  ## Convert the input to a transfer function if necessary
-  [num, den] = sys2tf (sys);               # extract numerator/denom polyomials
-  lnum = length (num);
-  lden = length (den);
-  ## equalize length of num, den polynomials
-  if (lden < 2)
-    error ("system has no poles");
-  elseif (lnum < lden)
-    num = [zeros(1,lden-lnum), num];  # so that derivative is shortened by one
-  endif
-
-  olpol = roots (den);
-  olzer = roots (num);
-  nas = lden - lnum; # number of asymptotes
-  maxk = 0;
-  if (nas > 0)
-    cas = (sum (olpol) - sum (olzer)) / nas;
-    angles = (2*[1:nas]-1)*pi/nas;
-    # printf("rlocus: there are %d asymptotes centered at %f\n", nas, cas);
-  else
-    cas = angles = [];
-    maxk = 100*den(1)/num(1);
-  endif
-
-
-  # compute real axis break points and corresponding gains
-  dnum = polyderiv (num);
-  dden = polyderiv (den);
-  brkp = conv (den, dnum) - conv (num, dden);
-  real_ax_pts = roots (brkp);
-  real_ax_pts = real_ax_pts(find (imag (real_ax_pts) == 0));
-  k_break = -polyval (den, real_ax_pts) ./ polyval (num, real_ax_pts);
-  idx = find (k_break >= 0);
-  k_break = k_break(idx);
-  real_ax_pts = real_ax_pts(idx);
-  if (! isempty (k_break))
-    maxk = max (max (k_break), maxk);
-  endif
-
-  if (nas == 0)
-    maxk = max (1, 2*maxk);  # get at least some root locus
-  else
-    ## get distance from breakpoints, poles, and zeros to center of asymptotes
-    dmax = 3*max (abs ([vec(olzer); vec(olpol); vec(real_ax_pts)] - cas));
-    if (dmax == 0)
-      dmax = 1;
-    endif
-
-    # get gain for dmax along each asymptote, adjust maxk if necessary
-    svals = cas + dmax * exp (j*angles);
-    kvals = -polyval (den, svals) ./ polyval (num, svals);
-    maxk = max (maxk, max (real (kvals)));
-  endif
-
-  ## check for input arguments:
-  if (nargin > 2)
-    mink = min_k;
-  else
-    mink = 0;
-  endif
-  if (nargin > 3)
-    maxk = max_k;
-  endif
-  if (nargin > 1)
-    if (increment <= 0)
-      error ("increment must be positive");
-    else
-      ngain = (maxk-mink)/increment;
-    endif
-  else
-    ngain = 30;
-  endif
-
-  ## vector of gains
-  ngain = max (30, ngain);
-  gvec = linspace (mink, maxk, ngain);
-  if (length (k_break))
-    gvec = sort ([gvec, vec(k_break)']);
-  endif
-
-  ## Find the open loop zeros and the initial poles
-  rlzer = roots (num);
-
-  ## update num to be the same length as den
-  lnum = length (num);
-  if (lnum < lden)
-    num = [zeros(1,lden - lnum),num];
-  endif
-
-  ## compute preliminary pole sets
-  nroots = lden - 1;
-  for ii = 1:ngain
-   gain = gvec(ii);
-   rlpol(1:nroots,ii) = vec(sortcom (roots (den + gain*num)));
-  endfor
-
-  ## set smoothing tolerance
-  smtolx = 0.01*(max (max (real (rlpol))) - min (min (real (rlpol))));
-  smtoly = 0.01*(max (max (imag (rlpol))) - min (min (imag (rlpol))));
-  smtol = max (smtolx, smtoly);
-  ## sort according to nearest-neighbor
-  rlpol = sort_roots (rlpol, smtolx, smtoly);
-
-  done = (nargin == 4);    # perform a smoothness check
-  while (! done && ngain < 1000)
-    done = 1 ;      # assume done
-    dp = abs (diff (rlpol'))';
-    maxdp = max (dp);
-
-    ## search for poles whose neighbors are distant
-    if (lden == 2)
-      idx = find (dp > smtol);
-    else
-      idx = find (maxdp > smtol);
-    endif
-
-    for ii = 1:length(idx)
-      i1 = idx(ii);
-      g1 = gvec(i1);
-      p1 = rlpol(:,i1);
-
-      i2 = idx(ii)+1;
-      g2 = gvec(i2);
-      p2 = rlpol(:,i2);
-
-      ## isolate poles in p1, p2
-      if (max (abs (p2-p1)) > smtol)
-        newg = linspace (g1, g2, 5);
-        newg = newg(2:4);
-        gvec = [gvec,newg];
-        done = 0;             # need to process new gains
-      endif
-    endfor
-
-    ## process new gain values
-    ngain1 = length (gvec);
-    for ii = (ngain+1):ngain1
-      gain = gvec(ii);
-      rlpol(1:nroots,ii) = vec(sortcom (roots (den + gain*num)));
-    endfor
-
-    [gvec, idx] = sort (gvec);
-    rlpol = rlpol(:,idx);
-    ngain = length (gvec);
-    ## sort according to nearest-neighbor
-    rlpol = sort_roots (rlpol, smtolx, smtoly);
-  endwhile
-  rldata = rlpol;
-
-  ## Plot the data
-  if (nargout  == 0)
-    rlpolv = vec(rlpol);
-    axdata = [real(rlpolv), imag(rlpolv); real(olzer), imag(olzer)];
-    axlim = axis2dlim (axdata);
-    rldata = [real(rlpolv), imag(rlpolv) ];
-    [stn, inname, outname] = sysgetsignals (sys);
-
-    ## build plot command args pole by pole
-
-    n_rlpol = rows (rlpol);
-    nelts = n_rlpol+1;
-    if (! isempty (rlzer))
-      nelts++;
-    endif
-    # add asymptotes
-    n_A = length (olpol) - length (olzer);
-    if (n_A > 0)
-      nelts += n_A;
-    endif
-    args = cell (3, nelts);
-    kk = 0;
-    # asymptotes first
-    if (n_A > 0)
-      len_A = 2*max (abs (axlim));
-      sigma_A = (sum(olpol) - sum(olzer))/n_A;
-      for i_A=0:n_A-1
-        phi_A = pi*(2*i_A + 1)/n_A;
-        args{1,++kk} = [sigma_A sigma_A+len_A*cos(phi_A)];
-        args{2,kk} = [0 len_A*sin(phi_A)];
-        if (i_A == 1)
-          args{3,kk} = "k--;asymptotes;";
-        else
-          args{3,kk} = "k--";
-        endif
-      endfor
-    endif
-    # locus next
-    for ii = 1:rows(rlpol)
-      args{1,++kk} = real (rlpol (ii,:));
-      args{2,kk} = imag (rlpol (ii,:));
-      if (ii == 1)
-        args{3,kk} = "b-;locus;";
-      else
-        args{3,kk} = "b-";
-      endif
-    endfor
-    # poles and zeros last
-    args{1,++kk} = real (olpol);
-    args{2,kk} = imag (olpol);
-    args{3,kk} = "rx;open loop poles;";
-    if (! isempty (rlzer))
-      args{1,++kk} = real (rlzer);
-      args{2,kk} = imag (rlzer);
-      args{3,kk} = "go;zeros;";
-    endif
-
-    set (gcf,"visible","off");
-    hplt = plot (args{:});
-    set (hplt(kk--), "markersize", 2);
-    if (! isempty (rlzer))
-      set (hplt(kk--), "markersize", 2);
-    endif
-    for ii = 1:rows(rlpol)
-      set (hplt(kk--), "linewidth", 2);
-    endfor
-    legend ("boxon", 2);
-    grid ("on");
-    axis (axlim);
-    xlabel (sprintf ("Root locus from %s to %s, gain=[%f,%f]: Real axis",
-		     inname{1}, outname{1}, gvec(1), gvec(ngain)));
-    ylabel ("Imag. axis");
-    set (gcf (), "visible","on");
-    rldata = [];
-  endif
-endfunction
-
-function rlpol = sort_roots (rlpol,tolx, toly)
-  # no point sorting of you've only got one pole!
-  if (rows (rlpol) == 1)
-    return;
-  endif
-
-  # reorder entries in each column of rlpol to be by their nearest-neighbors
-  dp = diff (rlpol')';
-  drp = max (real (dp));
-  dip = max (imag (dp));
-  idx = find (drp > tolx | dip > toly);
-  if (isempty (idx))
-    return;
-  endif
-
-  [np, ng] = size (rlpol);  # num poles, num gains
-  for jj = idx
-    vals = rlpol(:,[jj,jj+1]);
-    jdx = (jj+1):ng;
-    for ii = 1:rows(rlpol-1)
-      rdx = ii:np;
-      dval = abs (rlpol(rdx,jj+1)-rlpol(ii,jj));
-      mindist = min (dval);
-      sidx = min (find (dval == mindist)) + ii - 1;
-      if (sidx != ii)
-        c1 = norm (diff(vals'));
-        [vals(ii,2), vals(sidx,2)] = swap (vals(ii,2), vals(sidx,2));
-        c2 = norm (diff (vals'));
-        if (c1 > c2)
-          ## perform the swap
-          [rlpol(ii,jdx), rlpol(sidx,jdx)] = swap (rlpol(ii,jdx), rlpol(sidx,jdx));
-          vals = rlpol(:,[jj,jj+1]);
-        endif
-      endif
-    endfor
-  endfor
-
-endfunction
--- a/scripts/control/base/step.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,92 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{y}, @var{t}] =} step (@var{sys}, @var{inp}, @var{tstop}, @var{n})
-## Step response for a linear system.
-## The system can be discrete or multivariable (or both).
-## If no output arguments are specified, @code{step}
-## produces a plot or the step response data for system @var{sys}.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## System data structure.
-## @item inp
-## Index of input being excited
-## @item tstop
-## The argument @var{tstop} (scalar value) denotes the time when the
-## simulation should end.
-## @item n
-## the number of data values.
-##
-## Both parameters @var{tstop} and @var{n} can be omitted and will be
-## computed from the eigenvalues of the A Matrix.
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item y
-## Values of the step response.
-## @item t
-## Times of the step response.
-## @end table
-##
-## When invoked with the output parameter @var{y} the plot is not displayed.
-## @seealso{impulse}
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: September 30, 1997
-## based on lsim.m of Scottedward Hodel
-
-function [y, t] = step (sys, inp, tstop, n)
-
-  if (nargin < 1 || nargin > 4)
-    print_usage ();
-  endif
-
-  if (! isstruct (sys))
-    error ("step: sys must be a system data structure.");
-  endif
-
-  if (nargout == 0)
-    switch (nargin)
-      case (1)
-        __stepimp__ (1, sys);
-      case (2)
-        __stepimp__ (1, sys, inp);
-      case (3)
-        __stepimp__ (1, sys, inp, tstop);
-      case (4)
-        __stepimp__ (1, sys, inp, tstop, n);
-    endswitch
-  else
-    switch (nargin)
-      case (1)
-        [y, t] = __stepimp__ (1, sys);
-      case (2)
-        [y, t] = __stepimp__ (1, sys, inp);
-      case (3)
-        [y, t] = __stepimp__ (1, sys, inp, tstop);
-      case (4)
-        [y, t] = __stepimp__ (1, sys, inp, tstop, n);
-    endswitch
-  endif
-
-endfunction
--- a/scripts/control/base/tzero.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,152 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{zer}, @var{gain}] =} tzero (@var{a}, @var{b}, @var{c}, @var{d}, @var{opt})
-## @deftypefnx {Function File} {[@var{zer}, @var{gain}] =} tzero (@var{sys}, @var{opt})
-## Compute transmission zeros of a continuous system:
-## @iftex
-## @tex
-## $$ \dot x = Ax + Bu $$
-## $$ y = Cx + Du $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## .
-## x = Ax + Bu
-## y = Cx + Du
-## @end example
-## @end ifinfo
-## or of a discrete one:
-## @iftex
-## @tex
-## $$ x_{k+1} = Ax_k + Bu_k $$
-## $$ y_k = Cx_k + Du_k $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## x(k+1) = A x(k) + B u(k)
-## y(k)   = C x(k) + D u(k)
-## @end example
-## @end ifinfo
-##
-## @strong{Outputs}
-## @table @var
-## @item zer
-##  transmission zeros of the system
-## @item gain
-## leading coefficient (pole-zero form) of @acronym{SISO} transfer function
-## returns gain=0 if system is multivariable
-## @end table
-## @strong{References}
-## @enumerate
-## @item Emami-Naeini and Van Dooren, Automatica, 1982.
-## @item Hodel, @cite{Computation of Zeros with Balancing}, 1992 Lin. Alg. Appl.
-## @end enumerate
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: July 4, 1994
-## A. S. Hodel Aug 1995: allow for MIMO and system data structures
-
-function [zer, gain] = tzero (A, B, C, D)
-
-  ## get A,B,C,D and Asys variables, regardless of initial form
-  if (nargin == 4)
-    Asys = ss (A, B, C, D);
-  elseif (nargin == 1 && ! isstruct (A))
-    error ("tzero: expecting argument to be system structure");
-  elseif (nargin != 1)
-    print_usage ();
-  else
-    Asys = A;
-    [A, B, C, D] = sys2ss (Asys);
-  endif
-
-  Ao = Asys;                    # save for leading coefficient
-  siso = is_siso (Asys);
-  digital = is_digital (Asys);   # check if it's mixed or not
-
-  ## see if it's a gain block
-  if (isempty (A))
-    zer = [];
-    gain = D;
-    return;
-  endif
-
-  ## First, balance the system via the zero computation generalized eigenvalue
-  ## problem balancing method (Hodel and Tiller, Linear Alg. Appl., 1992)
-
-  ## balance coefficients
-  Asys = __zgpbal__ (Asys);
-  [A, B, C, D] = sys2ss (Asys);
-  if (isa ([A, B; C, D], "single"))
-    meps = 2*eps("single")*norm ([A, B; C, D], "fro");
-  else
-    meps = 2*eps*norm ([A, B; C, D], "fro");
-  endif
-  ## ENVD algorithm
-  Asys = zgreduce (Asys, meps);
-  [A, B, C, D] = sys2ss (Asys);
-  if (! isempty (A))
-    ## repeat with dual system
-    Asys = ss (A', C', B', D');
-    Asys = zgreduce (Asys, meps);
-
-    ## transform back
-    [A, B, C, D] = sys2ss (Asys);
-    Asys = ss (A', C', B', D');
-  endif
-
-  zer = [];                     # assume none
-  [A, B, C, D] = sys2ss (Asys);
-  if (! isempty (C))
-    [W, r, Pi] = qr ([C, D]');
-    [nonz, ztmp] = zgrownorm (r, meps);
-    if (nonz)
-      ## We can now solve the generalized eigenvalue problem.
-      [pp, mm] = size (D);
-      nn = rows (A);
-      Afm = [A , B ; C, D] * W';
-      Bfm = [eye(nn), zeros(nn,mm); zeros(pp,nn+mm)]*W';
-
-      jdx = (mm+1):(mm+nn);
-      Af = Afm(1:nn,jdx);
-      Bf = Bfm(1:nn,jdx);
-      zer = qz (Af, Bf);
-    endif
-  endif
-
-  mz = length (zer);
-  [A, B, C, D] = sys2ss (Ao);               # recover original system
-  ## compute leading coefficient
-  if (nargout == 2 && siso)
-    n = rows (A);
-    if (mz == n)
-      gain = D;
-    elseif (mz < n)
-      gain = C*(A^(n-1-mz))*B;
-    endif
-  else
-    gain = [];
-  endif
-endfunction
-
--- a/scripts/control/base/tzero2.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,67 +0,0 @@
-## Copyright (C) 1993, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{zr} =} tzero2 (@var{a}, @var{b}, @var{c}, @var{d}, @var{bal})
-## Compute the transmission zeros of @var{a}, @var{b}, @var{c}, @var{d}.
-##
-## @var{bal} = balancing option (see balance); default is @code{"B"}.
-##
-## Needs to incorporate @command{mvzero} algorithm to isolate finite zeros;
-## use @command{tzero} instead.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-
-function zr = tzero2 (a, b, c, d, bal)
-
-  if (nargin == 4)
-    bal = "B";
-  elseif (nargin != 5)
-    error ("tzero: invalid number of arguments");
-  endif
-
-  [n, m, p] = abcddim (a, b, c, d);
-
-  if (n > 0 && m > 0 && p > 0)
-    if (m != p)
-      fprintf (stderr, "tzero: number of inputs,outputs differ.  squaring up");
-      if (p > m)
-        fprintf (stderr, "       by padding b and d with zeros.");
-        b = [b, (zeros (n, p-m))];
-        d = [d, (zeros (p, p-m))];
-        m = p;
-      else
-        fprintf (stderr, "       by padding c and d with zeros.");
-        c = [c; (zeros (m-p, n))];
-        d = [d; (zeros (m-p, m))];
-        p = m;
-      endif
-      fprintf (stderr, "This is a kludge.  Try again with SISO system.");
-    endif
-    ab = [-a, -b; c, d];
-    bb = [(eye (n)), (zeros (n, m)); (zeros (p, n)), (zeros (p, m))];
-    [ab,bb] = balance (ab, bb);
-    zr = -qz (ab, bb);
-  else
-    error ("tzero: a, b, c, d not compatible.  exiting");
-  endif
-
-endfunction
--- a/scripts/control/csrefcard.lt	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1486 +0,0 @@
-@Include { OCSTreport }
-@Report
-  @Title {
-    { clines 0.8vx } @Break { 1.4f @Font {
-      Octave Controls Toolbox Reference Card }
-      0.8f @Font 0.7vx @Break { The Controls Toolbox was written by
-      A. Scottedward Hodel  <A.S.Hodel@Eng.Auburn.EDU> }
-    }
-  }
-  @Author { clines @Break { Kai P. Mueller
-    <mueller@ifr.ing.tu-bs.de> }
-  }
-  @Institution { clines @Break { Technical University of Braunschweig
-    Control Department }
-  }
-  @DateLine { Yes }
-  @CoverSheet { No }
-  @InitialFont { Schoolbook Base 12p }
-  @InitialSpace { tex }
-//
-
-@Abstract
-  @Title { }
-@Begin
-@I {
-This document provides an overview of the Controls Toolbox functions
-of Octave. It is still under construction, don't rely on details.
-}
-@End @Abstract
-
-@Section
-  @Title { System Analysis }
-@Begin
-  @BeginSubSections
-
-  @SubSection
-    @Title { Properties }
-  @Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { is_controllable }
-      B { controllability check
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [retval,U] = is_controllable(a [, b ,tol])
-        }
-      }
-      C { }
-    @Rowb above { yes }
-      A { is_detectable }
-      B { decetability check (unstable subsystem stabilizable?)
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [retval,U] = is_detectable(a , c [, tol])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { is_dgkf }
-      B { checks if packed system meets assumptions for the
-	  H{ @Sub @Sym infinity } Doyle-Glover-algorithm
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  retval = dgkf(Asys,nu,ny[,tol])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { is_digital }
-      B { returns true if packed system is a sampled system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-  }
-
-  @DP @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { is_observable }
-      B { observability check
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [retval,U] = is_observable(a , c [, tol])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { is_sample }
-      B { returns true if sampling time Ts is a legal (scalar) value
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { is_siso }
-      B { returns true if packed system is siso
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  SISO = is_siso(sys)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { is_stabilizable }
-      B { returns true if system stabilizable
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [retval,U] = is_stabilizable(a [, b ,tol])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { is_stable }
-      B { stability check
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  is_stable(a [,tol,disc])
-	}
-      }
-      C { }
-  }
-  @End @SubSection
-
-  @SubSection
-    @Title { Time Domain }
-  @Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { step }
-      B { step response of a system (mimo, discrete, or both)
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [y, u] = step(sys[, tstop, n, inp])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { impulse }
-      B { impulse response of a system (mimo, discrete, or both)
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [y, u] = impulse(sys[, tstop, n, inp])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { stepimp }
-      B { common code for step and impulse
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use }
-    @Rowb above { yes }
-      A { damp }
-      B { display eigenvalues, damping ratios, and naural frequencies of a
-	  matrix or poles of a packed system (continuous and discrete)
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  damp(p,[ tsamp])
-	}
-      }
-      C { }
-  }
-
-  @DP @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { dcgain }
-      B { calculate steady state gain of a packed system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [gm, ok] = dcgain(sys[, tol])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { dgram }
-      B { discrete controllability grammian
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { gram }
-      B { continuous controllabilty grammian
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { h2norm }
-      B { continuous system H{ @Sub 2} norm
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  out = h2norm(sys)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { lsim }
-      B { simulation of a linear system with arbitrary input and
-          time vector
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [y,x] = lsim(sys,u,t[,x0])
-	}
-      }
-      C { }
-  }
-  @End @SubSection
-
-  @SubSection
-    @Title { Frequency Domain }
-  @Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { bode }
-      B { bode diagram or compute magnitude and phase data
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [mag,phase,w] = bode(sys[,w,outputs,inputs])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { bode_bounds }
-      B { calculation of frequencies for bode and nyquist
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use }
-    @Rowb above { yes }
-      A { bodquist }
-      B { common code for bode und nyquist
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use }
-  }
-
-  @DP @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { freqchkw }
-      B { check frequency vector, used by freqresp
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use }
-    @Rowb above { yes }
-      A { freqresp }
-      B { calculation of the mutivariable frequency response of a system,
-          used by bode and nyquist
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  out = freqresp(sys, SISO, DIGITAL, USEW
-	  @LLP
-	  [, w, SQUARE_NYQUIST])
-	}
-      }
-      C { internal use }
-    @Rowb above { yes }
-      A { nyquist }
-      B { nyquist diagram
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { dcgain }
-      B { calculate steady state gain of a packed system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [gm, ok] = dcgain(sys[, tol])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { h2norm }
-      B { continuous system H{ @Sub 2} norm
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  out = h2norm(sys)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { hinfnorm }
-      B { continuous system H{ @Sub @Sym infinity} norm
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [g gmin gmax] = hinfnorm(sys[,tol,gmin,gmax,ptol])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { ltifr }
-      B { siso system frequency response
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { pzmap }
-      B { plot of poles and zeros of a system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  pzmap(sys) or [zer,pol] = pzmap(sys)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { rlocus }
-      B { displays root locus plot
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  rlocus(sys[,inc,mink,maxk])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { tzero }
-      B { transmission zeros of a continuous"/"discrete system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [zer,gain] = tzero(A,B,C,D) or
-	  @LLP
-	  zer = tzero(Asys)
-	}
-      }
-      C { }
-  }
-
-  @DP @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { tzero2 }
-      B { compute the transmission zeros of an a, b, c, d system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { zgpbal }
-      B { used by tzero
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  retsys = zgpbal(Asys) - packed system input
-	}
-      }
-      C { internal use }
-    @Rowb above { yes }
-      A { zgreduce }
-      B { used by tzero
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use }
-    @Rowb above { yes }
-      A { zgrownorm }
-      B { used by tzero
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use }
-  }
-  @End @SubSection
-  @EndSubSections
-@End @Section
-
-@Section
-  @Title { System Building }
-@Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { abcddim }
-      B { dimension compatibility check
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { abcddims }
-      B { used by abcddim
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use }
-    @Rowb above { yes }
-      A { outlist }
-      B { prints enumerated list of strings
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  outlist(x[,tabchar,yd,ilist])
-	}
-      }
-      C { internal use }
-    @Rowb above { yes }
-      A { parallel }
-      B { parallel connection of two systems
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  sysp = parallel(Asys,Bsys)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sysadd }
-      B { addition of two systems
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [sys] = sysysadd(Gsys,Hsys)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sysappend }
-      B { append new inputs and outputs to a system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  retsys = sysappend(sys,b,c[,d,outname,inname,yd])
-	}
-      }
-      C { }
-  }
-
-  @DP @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { syssetsignals }
-      B { change names of system inputs, outputs, or states
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  retsys=syssetsignals(sys,opt,names[,sigidx])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { syschtsam }
-      B { change sampling time of a (sampled) system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  retsys = syschtsam(sys,tsam)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sysconnect }
-      B { form a closed loop system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  retsys = sysconnect(sys, output_list, input_list [, order, tol])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { syscont }
-      B { extract continuous part of a mixed continuous"/"discrete system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [csys,Acd,Ccd,Dcd] = syscont(sys)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { syscont_disc }
-      B { extract continuous"/"discrete part
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use, used by syscont and sysdisc, internal use }
-    @Rowb above { yes }
-      A { sysdefioname }
-      B { create defaut signal names
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  ioname = sysdefioname(n,str[,m])
-	}
-      }
-      C { internal use }
-    @Rowb above { yes }
-      A { sysdefstname }
-      B { create default state names
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use }
-    @Rowb above { yes }
-      A { sysdimensions }
-      B { get number of states, inputs, and outputs from system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [n,nz,m,p] = sysdimensions(sys)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sysdisc }
-      B { extract purely discrete portion of a mixed
-          continuous"/"discrete system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [dsys,Adc,Cdc] = sysdisc(sys)
-	}
-      }
-      C { }
-  }
-
-  @DP @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { sysdup }
-      B { duplicate specified input"/"output connections of a system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  retsys = sysdup(Asys,output_list,input_list)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sysgroup }
-      B { combines two packed system matrices into a single system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  sys = sysgroup(Asys,Bsys)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sysgroupn }
-      B { locate and mark duplicate names (in sysgroup)
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use }
-    @Rowb above { yes }
-      A { sysmult }
-      B { concatenates two systems
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [sys] = sysmult(Asys,Bsys)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sysprune }
-      B { extract specified inputs"/"outputs from a system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  retsys = sysprune(sys,output_list,input_list)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sysreorder }
-      B { reorder elements of a vector
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { used by sysconnect }
-    @Rowb above { yes }
-      A { sysscale }
-      B { input"/"output scaling of a system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  retsys = sysscale(Asys, output_list, input_list [,inname, outname])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { syssub }
-      B { subtraction of two systems
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [sys] = syssub(Gsys,Hsys)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sysupdate }
-      B { update the internal representation of a system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  newsys = sysupdate(sys,opt)
-	}
-      }
-      C { }
-  }
-  @NP
-@End @Section
-
-
-@Section
-  @Title { Display and Convenience Functions }
-@Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { polyout }
-      B { formatted display of polynomials
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [y = ] polyout(c,[x])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { prompt }
-      B { prompt user to continue
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  prompt([str])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sortcom }
-      B { sort a complex vector by real, imaginary, or magnitude
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  yy = sortcom(xx[,opt]
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { swap }
-      B { exchange two values
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { swapcols }
-      B { permute columns of a matrix into reverse order
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A {swaprows  }
-      B { permute rows of a matrix into reverse order
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sysout }
-      B { print out a packed system in desired format
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  sysout(sys[,opt])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { tfout }
-      B { formatted transfer function num(s)"/"den(s)
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  tfout(num,denom[,x])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { zpout }
-      B { print formatted zero-pole form
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  zpout(zer,pol,k[,x])
-	}
-      }
-      C { }
-  }
-  @NP
-@End @Section
-
-@Section
-  @Title { System Representations and Conversions }
-@Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { c2d }
-      B { continuous to discrete conversion of a packed system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  dsys=c2d(sys[,T])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { fir2sys }
-      B { FIR (finite impulse response) to packed system conversion
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { ss2sys }
-      B { conversion from state space to system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  OUTSYS = ss2sys(A, B, C [, D, TSAM, N,
-	  NZ, STNAME, INNAME, OUTNAME, OUTLIST])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { ss2tf }
-      B { conversion from state space to transfer function
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [num,den] = ss2tf(a,b,c,d)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { ss2zp }
-      B { conversion from state space to zero pole representation
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [zer,pol,k] = ss2zp(a,b,c,d)
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sys2fir }
-      B { extract fir system from packed system form
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { sys2ss }
-      B { conversion from packed system to state space form
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [a, b, c, d, tsam, n, nz, stname, inname, outname] = sys2ss(sys)
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-      }
-      C { }
-    @Rowb above { yes }
-      A { sys2tf }
-      B { conversion from packed system to stransfer function
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
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-  {
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-	  [zer,pol,k] = ss2zp(a,b,c,d)
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-      C { }
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-      B { extract purely discrete portion of a mixed
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-          @DP { Helvetica Base -2p } @Font @CurveBox {
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-      C { }
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-      A { tf2ss }
-      B { function to state-space conversion
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { tf2sys }
-      B { transfer function to system conversion
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { tf2sysl }
-      B { strips leading zero coefficient in polynonials
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
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-      C { internal use (used by tf2sys) }
-    @Rowb above { yes }
-      A { tf2zp }
-      B { transfer function to state-space conversion
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { zp2ss }
-      B { zero-pole representation to state space form conversion
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { zp2ssg2 }
-      B { used by zp2ssg2
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use }
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-      A { zp2sys }
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-          @DP { Helvetica Base -2p } @Font @CurveBox {
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-      C { }
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-      A { zp2tf }
-      B { zero-pole representation to transfer function conversion
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-  }
-  @NP
-@End @Section
-
-@Section
-  @Title { Equation Solvers and Math Functions }
-@Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
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-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  x = are (a, b, c)
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-      C { }
-    @Rowb above { yes }
-      A { dlyap }
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-          @DP { Helvetica Base -2p } @Font @CurveBox {
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-	  *** no description ***
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-      C { }
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-      A { lyap }
-      B { Lyapunov"/"Sylvester equation solver
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  lyap (a, b [,c])
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-          @DP { Helvetica Base -2p } @Font @CurveBox {
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-	  *** no description ***
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-      A { zginit }
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-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
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-      C { }
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-      B { generalized conjugate gradient iteration to solve zero-computation
-	  generalized eigenvalue problem balancing equation
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
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-      C { }
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-
-  @DP @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
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-      B { apply givens rotation c,s to column vector a,b
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-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { zgshsr }
-      B { apply householder vector, used by zgfslv
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-  }
-@End @Section
-
-@Section
-  @Title { Controller Design }
-@Begin
-  @BeginSubSections
-  @SubSection
-    @Title { Classic Methods }
-  @Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
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-  {
-    @Rowa above { double } below { double }
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-      A { dlqe }
-      B { discrete Kalman filter design
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { dlqr }
-      B { discrete linear quadratic regulator (Riccati controller) design
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [k, p, e] = lqr (A, B, Q, R [, Z])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { lqe }
-      B { contiuous time Kalman filter design
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { lqg }
-      B { continuous"/"discrete lqg (linear quadratic gaussian) controller
-          design
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { lqr }
-      B { continuous lqr (Riccati-) controller design
-        @DP { Helvetica Base -2p } @Font @CurveBox {
-	*** no description ***
-      }
-      }
-      C { }
-    @Rowb above { yes }
-      A { place }
-      B { calculation of feedback gain matrix K, using pole-placement
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  K = place(sys, P)
-	}
-      }
-      C { }
-  }
-  @NP
-  @End @SubSection
-
-  @SubSection
-    @Title { Modern Methods }
-  @Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
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-      A { h2syn }
-      B { H{ @Sub 2}-optimal controller design
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [K, gain, Kc, Kf, Pc, Pf] = h2syn(Asys, nu, ny [, tol])
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-      C { }
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-      A { hinfsyn }
-      B { continuous system H{ @Sub @Sym infinity}-optimal controller design
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  [K,g, ghi, glo, Pc, Pf] = hinfsyn(Asys, nu, ny, gmax,
-	  gmin, gtol [, ptol, tol])
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-      }
-      C { }
-    @Rowb above { yes }
-      A { hinfsyn_chk }
-      B { check of existence of an H{ @Sub @Sym infinity}-optimal
-          controller, used internally by hinfsyn
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { internal use }
-  }
-  @End @SubSection
-  @EndSubSections
-  @NP
-@End @Section
-
-@Section
-  @Title { Miscellanious }
-@Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
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-      A { analdemo }
-      B { state space analysis demo
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  no parameters
-	}
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-      C { use by controldemo }
-    @Rowb above { yes }
-      A { bddemo }
-      B { block diagram manipulations demo
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  no parameters
-	}
-      }
-      C { used by controldemo }
-    @Rowb above { yes }
-      A { controldemo }
-      B { Octave Controls Toolbox demo
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  no parameters
-	}
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-      C { }
-    @Rowb above { yes }
-      A { frdemo }
-      B { menu-based frequency response demo
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  no parameters
-	}
-      }
-      C { used by controldemo }
-    @Rowb above { yes }
-      A { jet707 }
-      B { Boeing 707-321 aircraft mimo example
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  outsys = jet707()
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { ord2 }
-      B { second order siso example
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-	  outsys = ord2(nfreq, damp[, gain])
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { dgkfdemo }
-      B { H{ @Sub 2}"/"H{@Sub @Sym infinity} controller design demo
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  no parameters
-	}
-      }
-      C { }
-    @Rowb above { yes }
-      A { moddemo }
-      B { system conversion demo
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  no parameters
-	}
-      }
-      C { used by controldemo }
-    @Rowb above { yes }
-      A { packedform }
-      B { srcipt for sysrepdemo, the system representations demo
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
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-	  no parameters
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-	  no parameters
-	}
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-      C { used by controldemo }
-  }
-@End @Section
-
-@Section
-  @Title { New Functions (most likely not on your system) }
-@Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { ctrb }
-      B { Forms the controllability matrix of a system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  ctrb(sys [, b])
-	}
-      }
-      C { *not* for controllablity tests, use is_controllable instead
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-    @Rowb above { yes }
-      A { is_abcd }
-      B { Returns true if dimensions are compatible, false otherwise.
-          Complains about the (first) failing matrix dimension.
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  retval = is_abcd(a [, b, c, d])
-	}
-      }
-      C { In contrast to abcddim() the function is_abcd() accepts
-      1 to 4 arguments.
-      }
-    @Rowb above { yes }
-      A { obsv }
-      B { Forms the observability matrix of a system
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  obsv(sys [, c])
-	}
-      }
-      C { *not* for observablity tests, use is_observable instead
-      }
-    @Rowb above { yes }
-      A { template }
-      B { Starting point for your own function
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  y = template(x[, a])
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-      }
-      C { ridiculous calculation }
-  }
-@End @Section
-
-@Section
-  @Title { Obsolete }
-@Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
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-            @Col 7c @Wide { ragged nohyphen } @Break B !
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-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
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-      A { DEMOcontrol }
-      B { Octave Controls Toolbox demo
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-      C { obsolete - use democontrol instead }
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-      B { determine type of system matrix
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-	  *** no description ***
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-      C { obsolete - use ss2sys, tf2sys, sys2ss, or sys2tf instead }
-  }
-
-  @DP @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
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-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
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-      A { packsys }
-      B { pack A, B, C, D matrices into a system representation
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { obsolete - use ss2sys instead }
-    @Rowb above { yes }
-      A { rotg }
-      B { givens rotation
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { obsolete - use givens instead }
-    @Rowb above { yes }
-      A { series }
-      B { connect two systems
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
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-      }
-      C { obsolete - superseeded by sysmult}
-    @Rowb above { yes }
-      A { unpacksys }
-      B { conversion from packed system (sys) to state space
-          @DP { Helvetica Base -2p } @Font @CurveBox {
-	  *** no description ***
-	}
-      }
-      C { use sys2ss insted}
-  }
-@End @Section
-
-@Section
-  @Title { Dubious }
-@Begin
-  @PP
-  @Tab
-    between { single }
-    @Fmta { @Col @Heading A !
-            @Col @Heading B !
-	    @Col @Heading C }
-    @Fmtb { @Col 3c @Wide { ragged nohyphen } @Break A !
-            @Col 7c @Wide { ragged nohyphen } @Break B !
-	    @Col 3c @Wide { ragged nohyphen } @Break C }
-  {
-    @Rowa above { double } below { double }
-      A { name } B { description "/" usage } C { remarks }
-    @Rowb above { yes }
-      A { demomarsyas }
-      B { unknown interface demo }
-      C { }
-    @Rowb above { yes }
-      A { mb }
-      B { unknown purpose }
-      C { }
-    @Rowb above { yes }
-      A { sysball }
-      B { unknown purpose }
-      C { }
-  }
-@End @Section
-
-@Appendix
-  @Title { Maintainer }
-@Begin
-@PP
-Mail any comments or suggestions to Kai P. Mueller
-<mueller@ifr.ing.tu-bs.de>.
-Report m-files problems to A. Scottedward Hodel
-<A.S.Hodel@Eng.Auburn.EDU> or to the authors.
-@End @Appendix
-
-@Appendix
-  @Title { Production Note }
-@Begin
-@PP
-A recent version of this brochure can be copied from
-@LLP
-ftp:"//"ifr.ing.tu-bs.de"/"pub"/"ControlSW"/"doc
-("\""lout"\"" source and PostScript{@Sup @Char registered}).
-I am too dump to supply a T{/0.2fo E}X source.
-@End @Appendix
--- a/scripts/control/hinf/Makefile.in	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,85 +0,0 @@
-# Makefile for octave's scripts/control/hinf directory
-#
-# Copyright (C) 2000, 2002, 2005, 2006, 2007 John W. Eaton
-#
-# 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 3 of the License, 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, see
-# <http://www.gnu.org/licenses/>.
-
-TOPDIR = ../../..
-
-script_sub_dir = control/hinf
-
-srcdir = @srcdir@
-top_srcdir = @top_srcdir@
-VPATH = @srcdir@
-
-include $(TOPDIR)/Makeconf
-
-INSTALL = @INSTALL@
-INSTALL_PROGRAM = @INSTALL_PROGRAM@
-INSTALL_DATA = @INSTALL_DATA@
-
-SOURCES = dgkfdemo.m dhinfdemo.m h2norm.m h2syn.m hinf_ctr.m \
-  hinfdemo.m hinfnorm.m hinfsyn.m hinfsyn_chk.m hinfsyn_ric.m \
-  is_dgkf.m wgt1o.m
-
-DISTFILES = $(addprefix $(srcdir)/, Makefile.in $(SOURCES))
-
-FCN_FILES = $(addprefix $(srcdir)/, $(SOURCES))
-FCN_FILES_NO_DIR = $(notdir $(FCN_FILES))
-
-all: PKG_ADD
-.PHONY: all
-
-install install-strip:
-	$(do-script-install)
-.PHONY: install install-strip
-
-uninstall:
-	$(do-script-uninstall)
-.PHONY: uninstall
-
-clean:
-.PHONY: clean
-
-PKG_ADD: $(FCN_FILES)
-	@echo "making PKG_ADD"
-	@$(do-mkpkgadd)
-
-tags: $(SOURCES)
-	ctags $(SOURCES)
-
-TAGS: $(SOURCES)
-	etags $(SOURCES)
-
-mostlyclean: clean
-.PHONY: mostlyclean
-
-distclean: clean
-	rm -f Makefile PKG_ADD
-.PHONY: distclean
-
-maintainer-clean: distclean
-	rm -f tags TAGS
-.PHONY: maintainer-clean
-
-dist:
-	ln $(DISTFILES) ../../../`cat ../../../.fname`/scripts/$(script_sub_dir)
-.PHONY: dist
-
-check-m-sources:
-	@$(do-check-m-sources)
-.PHONY: check-m-sources
--- a/scripts/control/hinf/dgkfdemo.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,364 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} dgkfdemo ()
-## Octave Controls toolbox demo:
-## @iftex
-## @tex
-## $ { \cal H }_2 $/$ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-2/H-infinity
-## @end ifinfo
-## options demos.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: June 1995
-
-function dgkfdemo ()
-
-  save_val = page_screen_output ();
-  page_screen_output  (0);
-  while (1)
-    clc
-    sel = 0;
-    while (sel > 10 || sel < 1)
-      sel = menu ("Octave H2/Hinfinity options demo",
-                  "LQ regulator",
-                  "LG state estimator",
-                  "LQG optimal control design",
-                  "H2 gain of a system",
-                  "H2 optimal controller of a system",
-                  "Hinf gain of a system",
-                  "Hinf optimal controller of a SISO system",
-                  "Hinf optimal controller of a MIMO system",
-                  "Discrete-time Hinf optimal control by bilinear transform",
-                  "Return to main demo menu");
-    endwhile
-    if (sel == 1)
-      disp("Linear/Quadratic regulator design:")
-      disp("Compute optimal state feedback via the lqr command...")
-      help lqr
-      disp(" ")
-      disp("Example:")
-      A = [0, 1; -2, -1]
-      B = [0; 1]
-      Q = [1, 0; 0, 0]
-      R = 1
-      disp("Q = state penalty matrix; R = input penalty matrix")
-      prompt
-      disp("Compute state feedback gain k, ARE solution P, and closed-loop")
-      disp("poles as follows:");
-      cmd = "[k, p, e] = lqr(A,B,Q,R)";
-      run_cmd
-      prompt
-      disp("A similar approach can be used for LTI discrete-time systems")
-      disp("by using the dlqr command in place of lqr (see LQG example).")
-    elseif (sel == 2)
-      disp("Linear/Gaussian estimator design:")
-      disp("Compute optimal state estimator via the lqe command...")
-      help lqe
-      disp(" ")
-      disp("Example:")
-      A = [0, 1; -2, -1]
-      disp("disturbance entry matrix G")
-      G = eye(2)
-      disp("Output measurement matrix C")
-      C = [0, 1]
-      SigW = [1, 0; 0, 1]
-      SigV = 1
-      disp("SigW = input disturbance intensity matrix;")
-      disp("SigV = measurement noise intensity matrix")
-      prompt
-      disp("Compute estimator feedback gain k, ARE solution P, and estimator")
-      disp("poles via the command: ")
-      cmd = "[k, p, e] = lqe(A,G,C,SigW,SigV)";
-      run_cmd
-      disp("A similar approach can be used for LTI discrete-time systems")
-      disp("by using the dlqe command in place of lqe (see LQG example).")
-    elseif (sel == 3)
-      disp("LQG optimal controller of a system:")
-      disp("Input accepted as either A,B,C matrices or in system data structure form")
-      disp("in both discrete and continuous time.")
-      disp("Example 1: continuous time design:")
-      prompt
-      help lqg
-      disp("Example system")
-      A = [0, 1; .5, .5];
-      B = [0; 2];
-      G = eye(2)
-      C = [1, 1];
-      sys = ss(A, [B, G], C);
-      sys = syssetsignals(sys,"in", ...
-                       ["control input"; "disturbance 1"; "disturbance 2"]);
-      sysout(sys)
-      prompt
-      disp("Filtering/estimator parameters:")
-      SigW = eye(2)
-      SigV = 1
-      prompt
-      disp("State space (LQR) parameters Q and R are:")
-      Q = eye(2)
-      R = 1
-      cmd = "[K,Q1,P1,Ee,Er] = lqg(sys,SigW,SigV,Q,R,1);";
-      run_cmd
-      disp("Check: closed loop system A-matrix is")
-      disp(" [A,      B*Cc]")
-      disp(" [Bc*C,   Ac  ]")
-      cmd = "[Ac, Bc, Cc] = sys2ss(K);";
-      run_cmd
-      cmd = "Acl = [A, B*Cc; Bc*C, Ac]";
-      run_cmd
-      disp("Check: poles of Acl:")
-      Acl_poles = sortcom(eig(Acl))
-      disp("Predicted poles from design = union(Er,Ee)")
-      cmd = "pred_poles = sortcom([Er; Ee])";
-      run_cmd
-      disp("Example 2: discrete-time example")
-      cmd1 = "Dsys = ss(A, [G, B], C, [0, 0, 0], 1);";
-      cmd2 = "[K,Q1,P1,Ee,Er] = lqg(Dsys,SigW, SigV,Q,R);";
-      disp("Run commands:")
-      cmd = cmd1;
-      run_cmd
-      cmd = cmd2;
-      run_cmd
-      prompt
-      disp("Check: closed loop system A-matrix is")
-      disp(" [A,      B*Cc]")
-      disp(" [Bc*C,   Ac  ]")
-      [Ac,Bc,Cc] = sys2ss(K);
-      Acl = [A, B*Cc; Bc*C, Ac]
-      prompt
-      disp("Check: poles of Acl:")
-      Acl_poles = sortcom(eig(Acl))
-      disp("Predicted poles from design = union(Er,Ee)")
-      pred_poles = sortcom([Er;Ee])
-    elseif (sel == 4)
-      disp("H2 gain of a system: (Energy in impulse response)")
-      disp("Example 1: Stable plant:")
-      cmd = "A = [0, 1; -2, -1]; B = [0; 1]; C = [1, 0]; sys_poles = eig(A)";
-      run_cmd
-      disp("Put into Packed system form:")
-      cmd = "Asys = ss(A,B,C);";
-      run_cmd
-      disp("Evaluate system 2-norm (impulse response energy):");
-      cmd = "AsysH2 = h2norm(Asys)";
-      run_cmd
-      disp("Compare with a plot of the system impulse response:")
-      tt = 0:0.1:20;
-      for ii=1:length(tt)
-        ht(ii) = C*expm(A*tt(ii))*B;
-      endfor
-      plot(tt,ht)
-      title("impulse response of example plant")
-      prompt
-      disp("Example 2: unstable plant")
-      cmd = "A = [0, 1; 2, 1]";
-      eval(cmd);
-      cmd = "B = [0; 1]";
-      eval(cmd);
-      cmd = "C = [1, 0]";
-      eval(cmd);
-      cmd = "sys_poles = eig(A)";
-      run_cmd
-      prompt
-      disp("Put into system data structure form:")
-      cmd="Bsys = ss(A,B,C);";
-      run_cmd
-      disp("Evaluate 2-norm:")
-      cmd = "BsysH2 = h2norm(Bsys)";
-      run_cmd
-      disp(" ")
-      prompt("NOTICE: program returns a value without an error signal.")
-      disp("")
-
-    elseif (sel == 5)
-      disp("H2 optimal controller of a system: command = h2syn:")
-      prompt
-      help h2syn
-      prompt
-      disp("Example system: double integrator with output noise and")
-      disp("input disturbance:")
-      disp(" ");
-      disp("       -------------------->y2");
-      disp("       |   _________");
-      disp("u(t)-->o-->| 1/s^2 |-->o-> y1");
-      disp("       ^   ---------   ^");
-      disp("       |               |");
-      disp("      w1(t)           w2(t)");
-      disp(" ")
-      disp("w enters the system through B1, u through B2")
-      disp("z = [y1; y2] is obtained through C1, y=y1 through C2");
-      disp(" ")
-      cmd = "A = [0, 1; 0, 0];  B1 = [0, 0; 1, 0]; B2 = [0; 1];";
-      disp(cmd)
-      eval(cmd);
-      cmd = "C1 = [1, 0; 0, 0]; C2 = [1, 0];    D11 = zeros(2);";
-      disp(cmd)
-      eval(cmd);
-      cmd = "D12 = [0; 1];  D21 = [0, 1];  D22 = 0; D = [D11, D12; D21, D22];";
-      disp(cmd)
-      eval(cmd);
-      disp("Design objective: compute U(s)=K(s)Y1(s) to minimize the closed")
-      disp("loop impulse response from w(t) =[w1; w2] to z(t) = [y1; y2]");
-      prompt
-      disp("First: pack system:")
-      cmd="Asys = ss(A, [B1, B2], [C1; C2], D);";
-      run_cmd
-      disp("Open loop multivariable Bode plot: (will take a moment)")
-      cmd="bode(Asys);";
-      run_cmd
-      prompt("Press a key to close plot and continue");
-      closeplot
-      disp("Controller design command: (only need 1st two output arguments)")
-      cmd="[K,gain, Kc, Kf, Pc,  Pf] = h2syn(Asys,1,1);";
-      run_cmd
-      disp("Controller is:")
-      cmd = "sysout(K)";
-      run_cmd
-      disp(["returned gain value is: ",num2str(gain)]);
-      disp("Check: close the loop and then compute h2norm:")
-      prompt
-      cmd="K_loop = sysgroup(Asys,K);";
-      run_cmd
-      cmd = "Kcl = sysconnect(K_loop,[3,4],[4,3]);";
-      run_cmd
-      cmd = "Kcl = sysprune(Kcl,[1,2],[1,2]);";
-      run_cmd
-      cmd="gain_Kcl = h2norm(Kcl)";
-      run_cmd
-      cmd="gain_err = gain_Kcl - gain";
-      run_cmd
-      disp("Check: multivarible bode plot:")
-      cmd="bode(Kcl);";
-      run_cmd
-      prompt
-      disp("Related functions: is_dgkf, is_controllable, is_stabilizable,")
-      disp("                is_observable, is_detectable")
-    elseif (sel == 6)
-      disp("Hinfinity gain of a system: (max gain over all j-omega)")
-      disp("Example 1: Stable plant:")
-      cmd = "A = [0, 1; -2, -1]; B = [0; 1]; C = [1, 0]; sys_poles = eig(A)";
-      run_cmd
-      disp("Pack into system format:")
-      cmd = "Asys = ss(A,B,C);";
-      run_cmd
-      disp("The infinity norm must be computed iteratively by")
-      disp("binary search.  For this example, we select tolerance tol = 0.01, ")
-      disp("min gain gmin = 1e-2, max gain gmax=1e4.")
-      disp("Search quits when upper bound <= (1+tol)*lower bound.")
-      cmd = "tol = 0.01; gmin = 1e-2; gmax = 1e+4;";
-      run_cmd
-      cmd = "[AsysHinf,gmin,gmax] = hinfnorm(Asys,tol,gmin,gmax)"
-      run_cmd
-      disp("Check: look at max value of magntude Bode plot of Asys:");
-      [M,P,w] = bode(Asys);
-      xlabel("Omega")
-      ylabel("|Asys(j omega)| ")
-      grid();
-      semilogx(w,M);
-      disp(["Max magnitude is ",num2str(max(M)), ...
-        ", compared with gmin=",num2str(gmin)," and gmax=", ...
-        num2str(gmax),"."])
-      prompt
-      disp("Example 2: unstable plant")
-      cmd = "A = [0, 1; 2, 1]; B = [0; 1]; C = [1, 0]; sys_poles = eig(A)";
-      run_cmd
-      disp("Pack into system format:")
-      cmd = "Bsys = ss(A,B,C);";
-      run_cmd
-      disp("Evaluate with BsysH2 = hinfnorm(Bsys,tol,gmin,gmax)")
-      BsysH2 = hinfnorm(Bsys,tol,gmin,gmax)
-      disp(" ")
-      disp("NOTICE: program returns a value without an error signal.")
-      disp("")
-
-    elseif (sel == 7)
-      disp("Hinfinity optimal controller of a system: command = hinfsyn:")
-      prompt
-      help hinfsyn
-      prompt
-      disp("Example system: double integrator with output noise and")
-      disp("input disturbance:")
-      A = [0, 1; 0, 0]
-      B1 = [0, 0; 1, 0]
-      B2 = [0; 1]
-      C1 = [1, 0; 0, 0]
-      C2 = [1, 0]
-      D11 = zeros(2);
-      D12 = [0; 1];
-      D21 = [0, 1];
-      D22 = 0;
-      D = [D11, D12; D21, D22]
-      prompt
-      disp("First: pack system:")
-      cmd="Asys = ss(A, [B1, B2], [C1; C2], D);";
-      run_cmd
-      prompt
-      disp("Open loop multivariable Bode plot: (will take a moment)")
-      cmd="bode(Asys);";
-      run_cmd
-      prompt
-      disp("Controller design command: (only need 1st two output arguments)")
-      gmax = 1000
-      gmin = 0.1
-      gtol = 0.01
-      cmd="[K,gain] = hinfsyn(Asys,1,1,gmin,gmax,gtol);";
-      run_cmd
-      disp("Check: close the loop and then compute h2norm:")
-      prompt
-      cmd="K_loop = sysgroup(Asys,K);";
-      run_cmd
-      cmd = "Kcl = sysconnect(K_loop,[3,4],[4,3]);";
-      run_cmd
-      cmd = "Kcl = sysprune(Kcl,[1,2],[1,2]);";
-      run_cmd
-      cmd="gain_Kcl = hinfnorm(Kcl)";
-      run_cmd
-      cmd="gain_err = gain_Kcl - gain";
-      run_cmd
-      disp("Check: multivarible bode plot:")
-      cmd="bode(Kcl);";
-      run_cmd
-      prompt
-      disp("Related functions: is_dgkf, is_controllable, is_stabilizable,")
-      disp("                   is_observable, is_detectable, buildssic")
-    elseif (sel == 8)
-      disp("Hinfinity optimal controller of MIMO system: command = hinfsyn:")
-      prompt
-      help hinfsyn
-      prompt
-      disp("Example system: Boeing 707-321 airspeed/pitch angle control")
-      disp(" ")
-      hinfdemo
-    elseif (sel == 9)
-      disp("Discrete time H-infinity control via bilinear transform");
-      prompt
-      dhinfdemo
-    elseif (sel == 10)
-      return
-    endif
-    prompt
-  endwhile
-  page_screen_output (save_val);
-
-endfunction
--- a/scripts/control/hinf/dhinfdemo.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,173 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2007 Kai P. Mueller
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} dhinfdemo ()
-## Demonstrate the functions available to design a discrete
-## @iftex
-## @tex
-## $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-infinity
-## @end ifinfo
-## controller.  This is not a true discrete design. The
-## design is carried out in continuous time while the effect of sampling
-## is described by a bilinear transformation of the sampled system.
-## This method works quite well if the sampling period is "small"
-## compared to the plant time constants.
-##
-## Continuous plant:
-## @iftex
-## @tex
-## $$ G(s) = { 1 \over (s+2) (s+1) } $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## @group
-##                   1
-##      G(s) = --------------
-##             (s + 2)(s + 1)
-## @end group
-## @end example
-## @end ifinfo
-##
-## Discretised plant with @acronym{ZOH} (Sampling period = @var{Ts} = 1 second):
-## @iftex
-## @tex
-## $$ G(z) = { 0.39958z + 0.14700 \over (z - 0.36788) (z - 0.13533) } $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## @group
-##                 0.39958z + 0.14700
-##      G(z) = --------------------------
-##             (z - 0.36788)(z - 0.13533)
-## @end group
-## @end example
-## @end ifinfo
-##
-## @example
-## @group
-##                               +----+
-##          -------------------->| W1 |---> v1
-##      z   |                    +----+
-##      ----|-------------+                   || T   ||     => min.
-##          |             |                       vz   infty
-##          |    +---+    v      +----+
-##          *--->| G |--->O--*-->| W2 |---> v2
-##          |    +---+       |   +----+
-##          |                |
-##          |    +---+       |
-##          -----| K |<-------
-##               +---+
-## @end group
-## @end example
-##
-## @noindent
-## W1 and W2 are the robustness and performancs weighting functions.
-## @end deftypefn
-
-## K. Mueller, <mueller@ifr.ing.tu-bs.de>
-## Technical University of Braunschweig, IfR
-
-echo off
-disp(" ");
-disp("    --------------------------------------------------");
-disp("    Discrete H_infinity optimal control for the plant:");
-disp(" ");
-disp("                     0.39958z + 0.14700");
-disp("          G(s) = --------------------------");
-disp("                 (z - 0.36788)(z - 0.13533)");
-disp("    --------------------------------------------------");
-disp(" ");
-
-disp("sampling time:")
-cmd = "Ts = 1.0;";
-disp(cmd);
-eval(cmd);
-disp("weighting on actuator value u");
-cmd = "W1 = wgt1o(0.1, 200.0, 50.0);";
-disp(cmd);
-eval(cmd);
-disp("weighting on controlled variable y");
-cmd = "W2 = wgt1o(350.0, 0.05, 0.0002);";
-disp(cmd);
-eval(cmd);
-## omega axis (column vector)
-ww = vec(logspace(-4.99, 3.99, 100));
-
-disp("Create ZOH equivalent model of a continuous plant");
-cmd = "G = tf(2,[1 3 2]);  Gd = c2d(G, Ts);";
-run_cmd
-
-## w-plane (continuous representation of the sampled system)
-disp("W-plane transform of discrete time system:");
-cmd = "Gw = d2c(Gd, \"bi\");";
-run_cmd
-
-disp(" ");
-disp(" o building P...");
-## need One as the pseudo transfer function One = 1
-cmd = "One = ugain(1);";
-disp(cmd);
-eval(cmd);
-cmd = " psys = buildssic([1 4;2 4;3 1],[3],[2 3 5],[3 4],Gw,W1,W2,One);";
-run_cmd;
-disp(" o controller design...");
-cmd = "[K, gfin, GWC] = hinfsyn(psys, 1, 1, 0.1, 10.0, 0.02);";
-run_cmd
-
-disp(" ");
-fig_n = 1;
-yn = input(" * Plot magnitudes of W1KS and W2S? [n]: ","S");
-if (length(yn) >= 1)
-  if ((yn(1) == "y") || (yn(1) == 'Y'))
-    disp(" o magnitudes of W1KS and W2S...");
-    gwx = sysprune(GWC, 1, 1);
-    mag1 = bode(gwx, ww);
-    if (columns(mag1) > 1);  mag1 = mag1';  endif
-    gwx = sysprune(GWC, 2, 1);
-    mag2 = bode(gwx, ww);
-    if (columns(mag2) > 1);  mag2 = mag2';  endif
-    figure(fig_n)
-    fig_n = fig_n + 1;
-    loglog(ww, [mag1 mag2]);
-    grid ("on");
-  endif
-endif
-
-Kd = c2d(K, "bi", Ts);
-GG = buildssic([1 2; 2 1], [], [1 2], [-2], Gd, Kd);
-disp(" o closed loop poles...");
-damp(GG);
-
-disp(" ");
-yn = input(" * Plot closed loop step responses? [n]: ","S");
-if (length(yn) >= 1)
-  if ((yn(1) == "y") || (yn(1) == 'Y'))
-    disp(" o step responses of T and KS...");
-    figure(fig_n)
-    step(GG, 1, 10);
-  endif
-endif
-
-## --------- End of dhinfdemo/kpm
--- a/scripts/control/hinf/h2norm.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,77 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} h2norm (@var{sys})
-## Computes the
-## @iftex
-## @tex
-## $ { \cal H }_2 $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-2
-## @end ifinfo
-## norm of a system data structure (continuous time only).
-##
-## Reference:
-## Doyle, Glover, Khargonekar, Francis, @cite{State-Space Solutions to Standard}
-## @iftex
-## @tex
-## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## @cite{H-2 and H-infinity}
-## @end ifinfo
-## @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-## updated for system data structure by John Ingram November 1996
-
-function h2gain = h2norm (sys)
-
-  if (nargin != 1)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("Sys must be in system data structure");
-  endif
-  dflg = is_digital (sys);
-
-  if (! is_stable (sys))
-    warning ("h2norm: unstable input system; returning Inf");
-    h2gain = Inf;
-  else
-    ## compute gain
-    [a, b, c, d] = sys2ss (sys);
-    if (dflg)
-      M = dlyap (a, b*b');
-    else
-      M = lyap (a, b*b');
-    endif
-    if (min (real (eig (M))) < 0)
-      error ("h2norm: gramian not >= 0 (lightly damped modes?)")
-    endif
-
-    h2gain = sqrt (trace (d*d' + c*M*c'));
-  endif
-
-endfunction
--- a/scripts/control/hinf/h2syn.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,203 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{K}, @var{gain}, @var{kc}, @var{kf}, @var{pc}, @var{pf}] =} h2syn (@var{asys}, @var{nu}, @var{ny}, @var{tol})
-## Design
-## @iftex
-## @tex
-## $ { \cal H }_2 $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-2
-## @end ifinfo
-## optimal controller per procedure in
-## Doyle, Glover, Khargonekar, Francis, @cite{State-Space Solutions to Standard}
-## @iftex
-## @tex
-## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## @cite{H-2 and H-infinity}
-## @end ifinfo
-## @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989.
-##
-## Discrete-time control per Zhou, Doyle, and Glover, @cite{Robust and optimal control}, Prentice-Hall, 1996.
-##
-## @strong{Inputs}
-## @table @var
-## @item asys
-## system data structure (see ss, sys2ss)
-## @itemize @bullet
-## @item controller is implemented for continuous time systems
-## @item controller is @strong{not} implemented for discrete time systems
-## @end itemize
-## @item nu
-## number of controlled inputs
-## @item ny
-## number of measured outputs
-## @item tol
-## threshold for 0.  Default: 200*@code{eps}
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item    k
-## system controller
-## @item    gain
-## optimal closed loop gain
-## @item    kc
-## full information control (packed)
-## @item    kf
-## state estimator (packed)
-## @item    pc
-## @acronym{ARE} solution matrix for regulator subproblem
-## @item    pf
-## @acronym{ARE} solution matrix for filter subproblem
-## @end table
-## @end deftypefn
-
-## Updated for System structure December 1996 by John Ingram
-
-function [K, gain, Kc, Kf, Pc, Pf] = h2syn (Asys, nu, ny, tol)
-
-  if (nargin < 3 || nargin > 4)
-    print_usage ();
-  elseif (nargin == 3)
-    [chkdgkf, dgs] = is_dgkf (Asys, nu, ny);
-  elseif (nargin == 4)
-    [chkdgkf, dgs] = is_dgkf (Asys, nu, ny, tol);
-  endif
-
-  if (! chkdgkf)
-    error ("h2syn: system does not meet required assumptions")
-  endif
-
-  ## extract dgs information
-  nw = dgs.nw;
-  nu = dgs.nu;
-  nz = dgs.nz;
-  ny = dgs.ny;
-
-  A = dgs.A;
-
-  Bw = dgs.Bw;
-  Bu = dgs.Bu;
-
-  Cz = dgs.Cz;
-  Cy = dgs.Cy;
-
-  Dzw = dgs.Dzw;
-  Dzu = dgs.Dzu;
-
-  Dyw = dgs.Dyw;
-  Dyu = dgs.Dyu;
-
-  d22nz = dgs.Dyu_nz;
-
-  dflg = dgs.dflg;
-
-  if (norm (Dzw, Inf) > norm ([Dzw, Dzu; Dyw, Dyu], Inf)*1e-12)
-    warning ("h2syn: Dzw nonzero; feedforward not implemented")
-    Dzw
-    D = [Dzw, Dzu ; Dyw, Dyu]
-  endif
-
-  ## recover i/o transformations
-  Ru = dgs.Ru;
-  Ry = dgs.Ry;
-
-  [ncstates, ndstates, nout, nin] = sysdimensions (Asys);
-  Atsam = sysgettsam (Asys);
-  [Ast, Ain, Aout] = sysgetsignals (Asys);
-
-  if (dgs.dflg == 0)
-    Pc = are (A, Bu*Bu', Cz'*Cz);    # solve control, filtering ARE's
-    Pf = are(A', Cy'*Cy, Bw*Bw');
-    F2 = -Bu'*Pc;                 # calculate feedback gains
-    L2 = -Pf*Cy';
-
-    AF2 = A + Bu*F2;
-    AL2 = A + L2*Cy;
-    CzF2 = Cz + (Dzu/Ru)*F2;
-    BwL2 = Bw+L2*(Ry\Dyw);
-
-  else
-    ## discrete time solution
-    error ("h2syn: discrete-time case not yet implemented")
-    Pc = dare (A, Bu*Bu', Cz'*Cz);
-    Pf = dare (A', Cy'*Cy, Bw*Bw');
-  endif
-
-  nn = ncstates + ndstates;
-  In = eye (nn);
-  KA = A + Bu*F2 + L2*Cy;
-  Kc1 = ss (AF2, Bw, CzF2, zeros (nz, nw));
-  Kf1 = ss (AL2, BwL2, F2, zeros (nu, nw));
-
-  g1 = h2norm (Kc1);
-  g2 = h2norm (Kf1);
-
-  ## compute optimal closed loop gain
-  gain = sqrt (g1*g1 + g2*g2);
-
-  if (nargout)
-    Kst = strappend (Ast, "_K");
-    Kin = strappend (Aout((nout-ny+1):(nout)), "_K");
-    Kout = strappend (Ain((nin-nu+1):(nin)), "_K");
-
-    ## compute systems for return
-    K = ss (KA, -L2/Ru, Ry\F2, zeros(nu,ny), Atsam, ncstates,
-	    ndstates, Kst, Kin, Kout);
-  endif
-
-  if (nargout > 2)
-    ## system full information control state names
-    stname2 = strappend (Ast, "_FI");
-
-   ## system full information control input names
-   inname2 = strappend (Ast, "_FI_in");
-
-    ## system full information control output names
-    outname2 = strappend (Aout(1:(nout-ny)), "_FI_out");
-
-    nz = rows (Cz);
-    nw = columns (Bw);
-
-    Kc = ss (AF2, In, CzF2, zeros(nz,nn), Atsam,
-             ncstates, ndstates, stname2, inname2, outname2);
-  endif
-
-  if (nargout >3)
-    ## fix system state estimator state names
-    stname3 = strappend (Ast, "_Kf");
-
-    ## fix system state estimator input names
-    inname3 = strappend (Ast, "_Kf_noise");
-
-    ## fix system state estimator output names
-    outname3 = strappend (Ast, "_est");
-
-    Kf = ss (AL2, BwL2, In, zeros(nn,nw),Atsam,
-	    ncstates, ndstates, stname3, inname3, outname3);
-  endif
-
-endfunction
--- a/scripts/control/hinf/hinf_ctr.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,161 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{K} =} hinf_ctr (@var{dgs}, @var{f}, @var{h}, @var{z}, @var{g})
-## Called by @code{hinfsyn} to compute the
-## @iftex
-## @tex
-## $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-infinity
-## @end ifinfo
-## optimal controller.
-##
-## @strong{Inputs}
-## @table @var
-## @item dgs
-## data structure returned by @code{is_dgkf}
-## @item f
-## @itemx h
-## feedback and filter gain (not partitioned)
-## @item g
-## final gamma value
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item K
-## controller (system data structure)
-## @end table
-##
-## Do not attempt to use this at home; no argument checking performed.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-## Revised by Kai P. Mueller April 1998 to solve the general H_infinity
-## problem using unitary transformations Q (on w and z)
-## and non-singular transformations R (on u and y).
-
-function K = hinf_ctr (dgs, F, H, Z, g)
-
-  if (nargin != 5)
-    print_usage ();
-  endif
-
-  nw = dgs.nw;
-  nu = dgs.nu;
-  nz = dgs.nz;
-  ny = dgs.ny;
-  d22nz = dgs.Dyu_nz;
-
-  B1  = dgs.Bw;
-  B2  = dgs.Bu;
-  C1  = dgs.Cz;
-  C2  = dgs.Cy;
-  C = [C1; C2];
-  D11 = dgs.Dzw;
-  D12 = dgs.Dzu;
-  D21 = dgs.Dyw;
-  D22 = dgs.Dyu;
-  A = dgs.A;
-  Ru = dgs.Ru;
-  Ry = dgs.Ry;
-
-  nout = nz + ny;
-  nin = nw + nu;
-  nstates = size (A, 1);
-
-  F11 = F(1:(nw-ny),:);
-  F12 = F((nw-ny+1):nw,:);
-  F2  = F((nw+1):nin,:);
-  H11 = H(:,1:(nz-nu));
-  H12 = H(:,(nz-nu+1):nz);
-  H2  = H(:,(nz+1):nout);
-
-  ## D11 partitions
-  D1111 = D11(1:(nz-nu),1:(nw-ny));
-  D1112 = D11(1:(nz-nu),(nw-ny+1):nw);
-  D1121 = D11((nz-nu+1):nz,1:(nw-ny));
-  D1122 = D11((nz-nu+1):nz,(nw-ny+1):nw);
-
-  ## D11ik may be the empty matrix, don't calculate with empty matrices
-  [nd1111, md1111] = size (D1111);
-  md1112 = length (D1112);
-  md1121 = length (D1121);
-
-  if (nd1111 == 0 || md1112 == 0)
-    d11hat = -D1122;
-  else
-    xx = inv (g*g*eye(nz-nu) - D1111*D1111');
-    d11hat = -D1121*D1111'*xx*D1112 - D1122;
-  endif
-  if (md1112 == 0)
-    d21hat = eye (ny);
-  elseif (nd1111 == 0)
-    d21hat = chol (eye(ny) - D1112'*D1112/g/g);
-  else
-    xx = inv (g*g*eye(nz-nu) - D1111*D1111');
-    xx = eye (ny) - D1112'*xx*D1112;
-    d21hat = chol (xx);
-  endif
-  if (md1121 == 0)
-    d12hat = eye (nu);
-  elseif (md1111 == 0)
-    d12hat = chol (eye(nu) - D1121*D1121'/g/g)';
-  else
-    xx = inv (g*g*eye(nw-ny) - D1111'*D1111);
-    xx = eye (nu)-D1121*xx*D1121';
-    d12hat = chol (xx)';
-  endif
-
-  b2hat = (B2+H12)*d12hat;
-  c2hat = -d21hat*(C2+F12)*Z;
-  b1hat = -H2 + (b2hat/d12hat)*d11hat;
-  c1hat =  F2*Z + (d11hat/d21hat)*c2hat;
-  ahat  =  A + H*C + (b2hat/d12hat)*c1hat;
-
-  ## rescale controller by Ru and Ry
-  b1hat = b1hat/Ry;
-  c1hat = Ru\c1hat;
-  bhat  = [b1hat, b2hat];
-  chat  = [c1hat; c2hat];
-  dhat  = [Ru\d11hat/Ry, Ru\d12hat; d21hat/Ry, 0*d11hat'];
-
-  ## non-zero D22 is a special case
-  if (d22nz)
-    if (rank (eye(nu) + d11hat*D22) < nu)
-      error (" *** cannot compute controller for D22 non-zero.");
-    endif
-
-    d22new = [D22, zeros(ny,ny); zeros(nu,nu), 0*D22'];
-    xx = inv (eye(nu+ny) + d22new*dhat);
-    mhat = inv (eye(nu+ny) + dhat*d22new);
-    ahat = ahat - bhat*((eye(nu+ny)-xx)/dhat)*chat;
-    bhat = bhat*xx;
-    chat = mhat*chat;
-    dhat = dhat*xx;
-
-  endif
-
-  K = ss (ahat, bhat(:,1:ny), chat(1:nu,:), dhat(1:nu,1:ny));
-
-endfunction
--- a/scripts/control/hinf/hinfdemo.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,427 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2007 Kai P. Mueller
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} hinfdemo ()
-##
-## @iftex
-## @tex
-## $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-infinity
-## @end ifinfo
-## design demos for continuous @acronym{SISO} and @acronym{MIMO} systems and a
-## discrete system.  The @acronym{SISO} system is difficult to control because
-## it is non-minimum-phase and unstable. The second design example
-## controls the @command{jet707} plant, the linearized state space model of a
-## Boeing 707-321 aircraft at @var{v}=80 m/s
-## @iftex
-## @tex
-## ($M = 0.26$, $G_{a0} = -3^{\circ}$, ${\alpha}_0 = 4^{\circ}$, ${\kappa}= 50^{\circ}$).
-## @end tex
-## @end iftex
-## @ifinfo
-## (@var{M} = 0.26, @var{Ga0} = -3 deg, @var{alpha0} = 4 deg, @var{kappa} = 50 deg).
-## @end ifinfo
-## Inputs: (1) thrust and (2) elevator angle
-## Outputs: (1) airspeed and (2) pitch angle. The discrete system is a
-## stable and second order.
-##
-## @table @asis
-## @item @acronym{SISO} plant:
-##
-## @iftex
-## @tex
-## $$ G(s) = { s-2 \over (s+2) (s-1) } $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## @group
-##                 s - 2
-##      G(s) = --------------
-##             (s + 2)(s - 1)
-## @end group
-## @end example
-## @end ifinfo
-##
-## @smallexample
-## @group
-##
-##                               +----+
-##          -------------------->| W1 |---> v1
-##      z   |                    +----+
-##      ----|-------------+
-##          |             |
-##          |    +---+    v   y  +----+
-##        u *--->| G |--->O--*-->| W2 |---> v2
-##          |    +---+       |   +----+
-##          |                |
-##          |    +---+       |
-##          -----| K |<-------
-##               +---+
-## @end group
-## @end smallexample
-##
-## @iftex
-## @tex
-## $$ { \rm min } \Vert T_{vz} \Vert _\infty $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## min || T   ||
-##         vz   infty
-## @end example
-## @end ifinfo
-##
-## @var{W1} und @var{W2} are the robustness and performance weighting
-## functions.
-##
-## @item @acronym{MIMO} plant:
-## The optimal controller minimizes the
-## @iftex
-## @tex
-## $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-infinity
-## @end ifinfo
-## norm of the
-## augmented plant @var{P} (mixed-sensitivity problem):
-## @smallexample
-## @group
-##      w
-##       1 -----------+
-##                    |                   +----+
-##                +---------------------->| W1 |----> z1
-##      w         |   |                   +----+
-##       2 ------------------------+
-##                |   |            |
-##                |   v   +----+   v      +----+
-##             +--*-->o-->| G  |-->o--*-->| W2 |---> z2
-##             |          +----+      |   +----+
-##             |                      |
-##             ^                      v
-##             u                       y (to K)
-##          (from controller K)
-## @end group
-## @end smallexample
-##
-## @iftex
-## @tex
-## $$ \left [ \matrix{ z_1 \cr
-##                     z_2 \cr
-##                     y   } \right ] =
-##  P \left [ \matrix{ w_1 \cr
-##                     w_2 \cr
-##                     u   } \right ] $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @smallexample
-## @group
-##                   +    +           +    +
-##                   | z  |           | w  |
-##                   |  1 |           |  1 |
-##                   | z  | = [ P ] * | w  |
-##                   |  2 |           |  2 |
-##                   | y  |           | u  |
-##                   +    +           +    +
-## @end group
-## @end smallexample
-## @end ifinfo
-##
-## @item Discrete system:
-## This is not a true discrete design. The design is carried out
-## in continuous time while the effect of sampling is described by
-## a bilinear transformation of the sampled system.
-## This method works quite well if the sampling period is ``small''
-## compared to the plant time constants.
-##
-## @item The continuous plant:
-## @iftex
-## @tex
-## $$ G(s) = { 1 \over (s+2)(s+1) } $$
-## @end tex
-## @end iftex
-##
-## @ifinfo
-## @example
-## @group
-##                    1
-##      G (s) = --------------
-##       k      (s + 2)(s + 1)
-##
-## @end group
-## @end example
-## @end ifinfo
-##
-## is discretised with a @acronym{ZOH} (Sampling period = @var{Ts} = 1 second):
-## @iftex
-## @tex
-## $$ G(z) = { 0.199788z + 0.073498 \over (z - 0.36788) (z - 0.13534) } $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## @group
-##
-##                0.199788z + 0.073498
-##      G(z) = --------------------------
-##             (z - 0.36788)(z - 0.13534)
-## @end group
-## @end example
-## @end ifinfo
-##
-## @smallexample
-## @group
-##
-##                               +----+
-##          -------------------->| W1 |---> v1
-##      z   |                    +----+
-##      ----|-------------+
-##          |             |
-##          |    +---+    v      +----+
-##          *--->| G |--->O--*-->| W2 |---> v2
-##          |    +---+       |   +----+
-##          |                |
-##          |    +---+       |
-##          -----| K |<-------
-##               +---+
-## @end group
-## @end smallexample
-## @iftex
-## @tex
-## $$ { \rm min } \Vert T_{vz} \Vert _\infty $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## min || T   ||
-##         vz   infty
-## @end example
-## @end ifinfo
-## @var{W1} and @var{W2} are the robustness and performance weighting
-## functions.
-## @end table
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: April 30, 1998
-
-yn = [];
-while (length(yn) < 1)
-  yn = input(" * [s]iso, [m]imo, or [d]iscrete design? [no default]: ","S");
-endwhile
-if ((yn(1) == "s") | (yn(1) == 'S'))
-  sys_type = 1;
-elseif ((yn(1) == "m") | (yn(1) == 'M'))
-  sys_type = 2;
-elseif ((yn(1) == "d") | (yn(1) == 'D'))
-  sys_type = 3;
-else
-  disp(" *** no system type specified, hinfdemo terminated.");
-  return;
-endif
-
-echo off
-switch (sys_type)
-
-  case (1)
-    ## siso
-    disp(" ");
-    disp("    ----------------------------------------------");
-    disp("    H_infinity optimal control for the SISO plant:");
-    disp(" ");
-    disp("                          s - 2");
-    disp("              G(s) = --------------");
-    disp("                     (s + 2)(s - 1)");
-    disp(" ");
-    disp("    ----------------------------------------------");
-    disp(" ");
-
-    ## weighting on actuator u
-    W1 = wgt1o(0.05, 100.0, 425.0);
-    ## weighting on controlled variable y
-    W2 = wgt1o(10.0, 0.05, 0.001);
-    ## plant
-    G = tf2sys([1 -2],[1 1 -2]);
-
-    ## need One as the pseudo transfer function One = 1
-    One = ugain(1);
-    disp(" o forming P...");
-    psys = buildssic([1 4;2 4;3 1],[3],[2 3 5],[3 4],G,W1,W2,One);
-    disp(" ");
-    disp(" o controller design...");
-    [K, gfin, GW]=hinfsyn(psys, 1, 1, 0.1, 10.0, 0.02);
-    disp(" ");
-    disp("-- OK ----------------------------------------------");
-
-    disp("  Closed loop poles:");
-    damp(GW);
-    ## disp(" o Testing H_infinity norm: (hinfnorm does not work)");
-    ## hinfnorm(GW);
-
-    disp(" ");
-    yn = input(" * Plot closed loop step response? [n]: ","S");
-    if (length(yn) >= 1)
-      if ((yn(1) == "y") || (yn(1) == 'Y'))
-        disp(" o step responses of T and KS...");
-        GW = buildssic([1 2; 2 1], [], [1 2], [-2], G, K);
-        figure(1);
-        step(GW, 1, 10);
-      endif
-    endif
-
-  case (2)
-    ## mimo
-    disp(" ");
-    disp("    -----------------------------------------------");
-    disp("      H_inf optimal control for the jet707 plant");
-    disp("    -----------------------------------------------");
-    disp(" ");
-
-    ## Weighting function on u (robustness weight)
-    ww1 = wgt1o(0.01,5,0.9);
-    ww2 = wgt1o(0.01,5,2.2);
-    W1 = buildssic([1 0;2 0],[],[1 2],[1 2],ww1,ww2);
-    ## Weighting function on y (performance weight)
-    ww1 = wgt1o(250,0.1,0.0001);
-    ww2 = wgt1o(250,0.1,0.0002);
-    W2 = buildssic([1 0;2 0],[],[1 2],[1 2],ww1,ww2);
-    ## plant (2 x 2 system)
-    G = jet707;
-
-    disp(" o forming P...");
-    One = ugain(2);
-    Clst = [1 7; 2 8; 3 7; 4 8; 5 1; 6 2];
-    P = buildssic(Clst,[5 6],[3:6 9 10],[1 2 5:8],G,W1,W2,One);
-
-    disp(" ");
-    disp(" o controller design...");
-    K = hinfsyn(P, 2, 2, 0.25, 10.0, 0.005);
-
-    disp(" ");
-    yn = input(" * Plot closed loop step responses? [n]: ","S");
-    if (length(yn) >= 1)
-      if ((yn(1) == "y") || (yn(1) == 'Y'))
-        disp(" o step responses of T and KS...");
-        GW = buildssic([1 3;2 4;3 1;4 2],[],[1 2 3 4],[-3 -4],G,K);
-
-        disp(" ");
-        disp("  FIGURE 1: speed refence => 1, pitch angle ref. => 0");
-        disp("  ===================================================");
-        disp("      y1:  speed                      (should be 1)");
-        disp("      y2:  pitch            angle (should remain 0)");
-        disp("      y3:  thrust      (should be a slow transient)");
-        disp("      y6:  elevator  (should be a faster transient)");
-        disp(" ");
-        disp("  FIGURE 2: speed refence => 0, pitch angle ref. => 1");
-        disp("  ===================================================");
-        disp("      y1:  speed                  (should remain 0)");
-        disp("      y2:  pitch                angle (should be 1)");
-        disp("      y3:  thrust      (should be a slow transient)");
-        disp("      y6:  elevator  (should be a faster transient)");
-        disp(" ");
-        figure(1)
-        step(GW);
-        figure(2)
-        step(GW,2);
-      endif
-    endif
-
-  case (3)
-    ## discrete
-    disp(" ");
-    disp("    --------------------------------------------------");
-    disp("    Discrete H_infinity optimal control for the plant:");
-    disp(" ");
-    disp("                         0.199788z + 0.073498");
-    disp("              G(s) = --------------------------");
-    disp("                     (z - 0.36788)(z - 0.13533)");
-    disp("    --------------------------------------------------");
-    disp(" ");
-
-    ## sampling time
-    Ts = 1.0;
-    ## weighting on actuator value u
-    W1 = wgt1o(0.1, 200.0, 50.0);
-    ## weighting on controlled variable y
-    W2 = wgt1o(350.0, 0.05, 0.0002);
-    ## omega axis
-    ww = logspace(-4.99, 3.99, 100);
-    if (columns(ww) > 1);  ww = ww';  endif
-
-    ## continuous plant
-    G = tf2sys(2,[1 3 2]);
-    ## discrete plant with zoh
-    Gd = c2d(G, Ts);
-    ## w-plane (continuous representation of the sampled system)
-    Gw = d2c(Gd, "bi");
-
-    disp(" ");
-    disp(" o building P...");
-    ## need One as the pseudo transfer function One = 1
-    One = ugain(1);
-    psys = buildssic([1 4;2 4;3 1],[3],[2 3 5],[3 4],Gw,W1,W2,One);
-    disp(" o controller design...");
-    [K, gfin, GWC] = hinfsyn(psys, 1, 1, 0.1, 10.0, 0.02);
-
-    disp(" ");
-    fig_n = 1;
-    yn = input(" * Plot magnitudes of W1KS and W2S? [n]: ","S");
-    if (length(yn) >= 1)
-      if ((yn(1) == "y") || (yn(1) == 'Y'))
-        disp(" o magnitudes of W1KS and W2S...");
-        gwx = sysprune(GWC, 1, 1);
-        mag1 = bode(gwx, ww);
-        if (columns(mag1) > 1);  mag1 = mag1';  endif
-        gwx = sysprune(GWC, 2, 1);
-        mag2 = bode(gwx, ww);
-        if (columns(mag2) > 1);  mag2 = mag2';  endif
-        figure(fig_n)
-        fig_n = fig_n + 1;
-        loglog(ww, [mag1 mag2]);
-        grid ("on");
-      endif
-    endif
-
-    Kd = c2d(K, "bi", Ts);
-    GG = buildssic([1 2; 2 1], [], [1 2], [-2], Gd, Kd);
-    disp(" o closed loop poles...");
-    damp(GG);
-
-    disp(" ");
-    yn = input(" * Plot closed loop step responses? [n]: ","S");
-    if (length(yn) >= 1)
-      if ((yn(1) == "y") || (yn(1) == 'Y'))
-        disp(" o step responses of T and KS...");
-        figure(fig_n)
-        step(GG, 1, 10);
-      endif
-    endif
-
-endswitch
-
-disp(" o hinfdemo terminated successfully.");
-
-## KPM-hinfdemo/End
--- a/scripts/control/hinf/hinfnorm.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,210 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{g}, @var{gmin}, @var{gmax}] =} hinfnorm (@var{sys}, @var{tol}, @var{gmin}, @var{gmax}, @var{ptol})
-## Computes the
-## @iftex
-## @tex
-## $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-infinity
-## @end ifinfo
-## norm of a system data structure.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## system data structure
-## @item tol
-## @iftex
-## @tex
-## $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-infinity
-## @end ifinfo
-## norm search tolerance (default: 0.001)
-## @item gmin
-## minimum value for norm search (default: 1e-9)
-## @item gmax
-## maximum value for norm search (default: 1e+9)
-## @item ptol
-## pole tolerance:
-## @itemize @bullet
-## @item if sys is continuous, poles with
-## @iftex
-## @tex
-## $ \vert {\rm real}(pole) \vert < ptol \Vert H \Vert $
-## @end tex
-## @end iftex
-## @ifinfo
-## @math{ |real(pole))| < ptol*||H|| }
-## @end ifinfo
-## (@var{H} is appropriate Hamiltonian)
-## are considered to be on the imaginary axis.
-##
-## @item if sys is discrete, poles with
-## @iftex
-## @tex
-## $ \vert { \rm pole } - 1 \vert < ptol \Vert [ s_1 s_2 ] \Vert $
-## @end tex
-## @end iftex
-## @ifinfo
-## @math{|abs(pole)-1| < ptol*||[s1,s2]||}
-## @end ifinfo
-## (appropriate symplectic pencil)
-## are considered to be on the unit circle.
-##
-## @item Default value: 1e-9
-## @end itemize
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item g
-## Computed gain, within @var{tol} of actual gain.  @var{g} is returned as Inf
-## if the system is unstable.
-## @item gmin
-## @itemx gmax
-## Actual system gain lies in the interval [@var{gmin}, @var{gmax}].
-## @end table
-##
-## References:
-## Doyle, Glover, Khargonekar, Francis, @cite{State-space solutions to standard}
-## @iftex
-## @tex
-## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## @cite{H-2 and H-infinity}
-## @end ifinfo
-## @cite{control problems}, @acronym{IEEE} @acronym{TAC} August 1989;
-## Iglesias and Glover, @cite{State-Space approach to discrete-time}
-## @iftex
-## @tex
-## $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## @cite{H-infinity}
-## @end ifinfo
-## @cite{control}, Int. J. Control, vol 54, no. 5, 1991;
-## Zhou, Doyle, Glover, @cite{Robust and Optimal Control}, Prentice-Hall, 1996.
-## @end deftypefn
-
-function [g, gmin, gmax] = hinfnorm (sys, tol, gmin, gmax, ptol)
-
-  if (nargin == 0 || nargin > 4)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("Sys must be a system data structure");
-  endif
-
-  ## set defaults where applicable
-  if (nargin < 5)
-    ptol = 1e-9;        # pole tolerance
-  endif
-  if (nargin < 4)
-    gmax = 1e9;         # max gain value
-  endif
-
-  dflg = is_digital (sys);
-  sys = sysupdate (sys, "ss");
-  [A, B, C, D] = sys2ss (sys);
-  [n, nz, m, p] = sysdimensions (sys);
-
-  ## eigenvalues of A must all be stable
-  if (! is_stable (sys))
-    warning ("hinfnorm: unstable system (is_stable, ptol=%g), returning Inf",
-	     ptol);
-    g = Inf;
-  endif
-
-  Dnrm = norm (D);
-  if (nargin < 3)
-    gmin = max (1e-9, Dnrm);      # min gain value
-  elseif (gmin < Dnrm)
-    warning ("hinfnorm: setting Gmin=||D||=%g", Dnrm);
-  endif
-
-  if (nargin < 2)
-    tol = 0.001;        # convergence measure for gmin, gmax
-  endif
-
-  ## check for scalar input arguments 2...5
-  if (! isscalar (tol) && isscalar (gmin)
-      && isscalar (gmax) && isscalar (ptol))
-    error ("hinfnorm: tol, gmin, gmax, ptol must be scalars");
-  endif
-
-  In = eye (n+nz);
-  Im = eye (m);
-  Ip = eye (p);
-  ## find the Hinf norm via binary search
-  while (gmax/gmin - 1 > tol)
-    g = (gmax+gmin)/2;
-
-    if (dflg)
-      ## multiply g's through in formulas to avoid extreme magnitudes...
-      Rg = g^2*Im - D'*D;
-      Ak = A + (B/Rg)*D'*C;
-      Ck = g^2*C'*((g^2*Ip-D*D')\C);
-
-      ## set up symplectic generalized eigenvalue problem per Iglesias & Glover
-      s1 = [Ak , zeros(nz); -Ck, In];
-      s2 = [In, -(B/Rg)*B'; zeros(nz), Ak'];
-
-      ## guard against roundoff again: zero out extremely small values
-      ## prior to balancing
-      s1 = s1 .* (abs(s1) > ptol*norm(s1,"inf"));
-      s2 = s2 .* (abs(s2) > ptol*norm(s2,"inf"));
-      [cc, dd, s1, s2] = balance (s1, s2);
-      [qza, qzb, zz, pls] = qz (s1, s2, "S"); # ordered qz decomposition
-      eigerr = abs (abs(pls)-1);
-      normH = norm ([s1, s2]);
-      Hb = [s1, s2];
-
-      ## check R - B' X B condition (Iglesias and Glover's paper)
-      X = zz((nz+1):(2*nz),1:nz)/zz(1:nz,1:nz);
-      dcondfailed = min (real (eig (Rg - B'*X*B)) < ptol);
-    else
-      Rinv = inv(g*g*Im - (D' * D));
-      H = [A + B*Rinv*D'*C,        B*Rinv*B';
-           -C'*(Ip + D*Rinv*D')*C, -(A + B*Rinv*D'*C)'];
-      ## guard against roundoff: zero out extremely small values prior
-      ## to balancing
-      H = H .* (abs (H) > ptol * norm (H, "inf"));
-      [DD, Hb] = balance (H);
-      pls = eig (Hb);
-      eigerr = abs (real (pls));
-      normH = norm (H);
-      dcondfailed = 0;          # digital condition; doesn't apply here
-    endif
-    if ((min (eigerr) <= ptol * normH) | dcondfailed)
-      gmin = g;
-    else
-      gmax = g;
-    endif
-  endwhile
-endfunction
--- a/scripts/control/hinf/hinfsyn.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,393 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{k}, @var{g}, @var{gw}, @var{xinf}, @var{yinf}] =} hinfsyn (@var{asys}, @var{nu}, @var{ny}, @var{gmin}, @var{gmax}, @var{gtol}, @var{ptol}, @var{tol})
-##
-## @strong{Inputs} input system is passed as either
-## @table @var
-## @item asys
-## system data structure (see @command{ss}, @command{sys2ss})
-## @itemize @bullet
-## @item controller is implemented for continuous time systems
-## @item controller is @strong{not} implemented for discrete time systems  (see
-## bilinear transforms in @command{c2d}, @command{d2c})
-## @end itemize
-## @item nu
-## number of controlled inputs
-## @item ny
-## number of measured outputs
-## @item gmin
-## initial lower bound on
-## @iftex
-## @tex
-## $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-infinity
-## @end ifinfo
-## optimal gain
-## @item gmax
-## initial upper bound on
-## @iftex
-## @tex
-## $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-infinity
-## @end ifinfo
-## Optimal gain.
-## @item gtol
-## Gain threshold.  Routine quits when @var{gmax}/@var{gmin} < 1+tol.
-## @item ptol
-## poles with @code{abs(real(pole))}
-## @iftex
-## @tex
-## $ < ptol \Vert H \Vert $
-## @end tex
-## @end iftex
-## @ifinfo
-## < ptol*||H||
-## @end ifinfo
-## (@var{H} is appropriate
-## Hamiltonian) are considered to be on the imaginary axis.
-## Default: 1e-9.
-## @item tol
-## threshold for 0.  Default: 200*@code{eps}.
-##
-## @var{gmax}, @var{min}, @var{tol}, and @var{tol} must all be positive scalars.
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item k
-## System controller.
-## @item g
-## Designed gain value.
-## @item gw
-## Closed loop system.
-## @item xinf
-## @acronym{ARE} solution matrix for regulator subproblem.
-## @item yinf
-## @acronym{ARE} solution matrix for filter subproblem.
-## @end table
-##
-## References:
-## @enumerate
-## @item Doyle, Glover, Khargonekar, Francis, @cite{State-Space Solutions
-## to Standard}
-## @iftex
-## @tex
-## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## @cite{H-2 and H-infinity}
-## @end ifinfo
-## @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989.
-##
-## @item Maciejowksi, J.M., @cite{Multivariable feedback design},
-## Addison-Wesley, 1989, @acronym{ISBN} 0-201-18243-2.
-##
-## @item Keith Glover and John C. Doyle, @cite{State-space formulae for all
-## stabilizing controllers that satisfy an}
-## @iftex
-## @tex
-## $ { \cal H }_\infty $@cite{norm}
-## @end tex
-## @end iftex
-## @ifinfo
-## @cite{H-infinity-norm}
-## @end ifinfo
-## @cite{bound and relations to risk sensitivity},
-## Systems & Control Letters 11, Oct. 1988, pp 167--172.
-## @end enumerate
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-## Updated for Packed system structures December 1996 by John Ingram
-##
-## Revised by Kai P. Mueller April 1998 to solve the general H_infinity
-## problem using unitary transformations Q (on w and z)
-## and non-singular transformations R (on u and y).
-
-function [K, g, GW, Xinf, Yinf] = hinfsyn (Asys, nu, ny, gmin, gmax, gtol, ptol, tol)
-
-  if (nargin < 1 || nargin > 8)
-    print_usage ();
-  endif
-  ## set default arguments
-  if (nargin < 8)
-    if (isa (Asys.a, "single") || isa (Asys.b, "single") || isa (Asys.c, "single") ||
-	isa (Asys.d, "single"))
-      tol = 200*eps("single");
-    else
-      tol = 200*eps;
-    endif
-  elseif (! is_sample (tol))
-    error ("tol must be a positive scalar.")
-  endif
-  if (nargin < 7)
-    ptol = 1e-9;
-  elseif (! is_sample (ptol))
-    error ("hinfsyn: ptol must be a positive scalar");
-  endif
-
-  if (! is_sample (gmax) || ! is_sample (gmin) || ! is_sample (gtol))
-    error ("hinfsyn: gmax=%g, gmin=%g, gtol=%g must be positive scalars",
-	   gmax, gmin, gtol);
-  endif
-
-  [chkdgkf, dgs] = is_dgkf (Asys, nu, ny, tol);
-
-  if (! chkdgkf )
-    error ("hinfsyn: system does not meet required assumptions")
-  endif
-
-  ## extract dgs information
-  nw = dgs.nw;
-  nu = dgs.nu;
-  nz = dgs.nz;
-  ny = dgs.ny;
-
-  A = dgs.A;
-
-  B1 = dgs.Bw;
-  B2 = dgs.Bu;
-
-  C1 = dgs.Cz;
-  C2 = dgs.Cy;
-
-  D11 = dgs.Dzw;
-  D12 = dgs.Dzu;
-  D21 = dgs.Dyw;
-  D22 = dgs.Dyu;
-
-  d22nz = dgs.Dyu_nz;
-
-  dflg = dgs.dflg;
-
-  ## recover i/o transformations
-  R12 = dgs.Ru;
-  R21 = dgs.Ry;
-
-  [ncstates, ndstates, nin, nout] = sysdimensions (Asys);
-
-  Atsam = sysgettsam (Asys);
-
-  [Ast, Ain, Aout] = sysgetsignals (Asys);
-
-  BB = [B1, B2];
-  CC = [C1 ; C2];
-  DD = [D11, D12 ; D21,  D22];
-
-  if (dflg == 0)
-    n = ncstates;
-    ## perform binary search to find gamma min
-    ghi = gmax;
-    ## derive a lower lower bound for gamma from D matrices
-    xx1 = norm ((eye(nz) - (D12/(D12'*D12))*D12')*D11);
-    xx2 = norm (D11*(eye(nw)-(D21'/(D21*D21'))*D21));
-    glo = max (xx1, xx2);
-    if (glo > gmin)
-      warning (" *** D matrices indicate a greater value of gamma min.");
-      warning ("     gamma min (%f) superseeded by %f.", gmin, glo);
-      glo = xx1;
-    else
-      glo = gmin;
-    endif
-    if (glo > ghi)
-      error (" *** lower bound of gamma greater than upper bound (%g, %g)",
-             glo, ghi);
-    endif
-
-    de = ghi - glo;
-    g = glo;
-    search_state = 0;
-    iteration_finished = 0;
-    disp(" o structural tests passed, start of iteration...");
-    disp("        o <-> test passed   # <-> test failed   - <-> cannot test");
-    printf("----------------------------------------");
-    printf("--------------------------------------\n");
-
-    ## ------123456789012345678901234567890123456789012345678901234567890
-    printf("           .........X......... .........Y......... ");
-    printf(".Z. PASS REMARKS\n");
-    printf("        ga iax nev ene sym pos iax nev ene sym pos ");
-    printf("rho  y/n ======>\n");
-    printf("----------------------------------------");
-    printf("--------------------------------------\n");
-
-    ## set up error messages
-    errmesg = {" o   o   o   o   o  ", ...
-        " #   -   -   -   -  ", ...
-        " o   #   -   -   -  ", ...
-        " o   o   #   -   -  ", ...
-        " o   o   o   #   -  ", ...
-        " o   o   o   o   #  ", ...
-        " -   -   -   -   -  "};
-    errdesx = {"", ...
-        "X im eig.", ...
-        "Hx not Ham.", ...
-        "X inf.eig", ...
-        "X not symm.", ...
-        "X not pos", ...
-        "R singular"};
-
-    errdesy = {" ", ...
-        "Y im eig.", ...
-        "Hy not Ham.", ...
-        "Y inf.eig", ...
-        "Y not symm.", ...
-        "Y not pos", ...
-        "Rtilde singular"};
-
-
-    ## now do the search
-    while (! iteration_finished)
-      switch (search_state)
-        case 0
-          g = ghi;
-        case 1
-          g = glo;
-        case 2
-          g = 0.5 * (ghi + glo);
-        otherwise
-	  error (" *** This should never happen!");
-      endswitch
-      printf ("%10.4f ", g);
-
-      ## computing R and R~
-      d1dot = [D11, D12];
-      R = zeros (nin, nin);
-      R(1:nw,1:nw) = -g*g*eye(nw);
-      R = R + d1dot' * d1dot;
-      ddot1 = [D11; D21];
-      Rtilde = zeros (nout, nout);
-      Rtilde(1:nz,1:nz) = -g*g*eye(nz);
-      Rtilde = Rtilde + ddot1 * ddot1';
-
-      [Xinf, x_ha_err] = hinfsyn_ric (A, BB, C1, d1dot, R, ptol);
-      [Yinf, y_ha_err] = hinfsyn_ric (A', CC', B1', ddot1', Rtilde, ptol);
-
-      ## assume failure for this gamma
-      passed = 0;
-      rerr = "";
-      if (! x_ha_err && ! y_ha_err)
-        ## test spectral radius condition
-        rho = max (abs (eig (Xinf * Yinf)));
-        if (rho < g*g)
-          ## spectral radius condition passed
-          passed = 1;
-        else
-          rerr = sprintf ("rho=%f",rho);
-        endif
-      endif
-
-      if (x_ha_err >= 0 && x_ha_err <= 6)
-        printf ("%s", errmesg{x_ha_err+1});
-        xerr = errdesx{x_ha_err+1};
-      else
-        error (" *** Xinf fail: this should never happen!");
-      endif
-
-      if (y_ha_err >= 0 && y_ha_err <= 6)
-        printf ("%s", errmesg{y_ha_err+1});
-        yerr = errdesy{y_ha_err+1};
-      else
-        error (" *** Yinf fail: this should never happen!");
-      endif
-
-      if (passed)
-	printf ("  y all tests passed.\n");
-      else
-        printf ("  n %s/%s%s\n", xerr, yerr, rerr);
-      endif
-
-      if (passed && (de/g < gtol))
-        search_state = 3;
-      endif
-
-      switch (search_state)
-        case 0
-          if (! passed)
-            ## upper bound must pass but did not
-            fprintf(" *** the upper bound of gamma (%f) is too small.\n", g);
-            iteration_finished = 2;
-          else
-            search_state = 1;
-          endif
-        case 1
-          if (! passed)
-	    search_state = 2;
-          else
-            ## lower bound must not pass but passed
-            fprintf (" *** the lower bound of gamma (%f) passed.\n", g);
-            iteration_finished = 3;
-          endif
-        case 2
-          ## Normal case; must check that singular R, Rtilde wasn't the problem.
-          if (! passed && x_ha_err != 6 && y_ha_err != 6)
-	    glo = g;
-          else
-            ghi = g;
-          endif
-          de = ghi - glo;
-        case 3
-	  iteration_finished = 1;        # done
-        otherwise
-	  error (" *** This should never happen!");
-      endswitch
-    endwhile
-
-    printf ("----------------------------------------");
-    printf ("--------------------------------------\n");
-    if (iteration_finished != 1)
-      K = [];
-    else
-      ## success: compute controller
-      fprintf ("   hinfsyn final: glo=%f ghi=%f, test gain g=%f\n",
-               glo, ghi, g);
-      printf ("----------------------------------------");
-      printf ("--------------------------------------\n");
-      Z = inv (eye(ncstates) - Yinf*Xinf/g/g);
-      F = -R \ (d1dot'*C1 + BB'*Xinf);
-      H = -(B1*ddot1' + Yinf*CC') / Rtilde;
-      K = hinf_ctr (dgs, F, H, Z, g);
-
-      Kst = strappend (Ast, "_K");
-      Kin = strappend (Aout((nout-ny+1):(nout)),"_K");
-      Kout = strappend (Ain((nin-nu+1):(nin)),"_K");
-      [Ac, Bc, Cc, Dc] = sys2ss (K);
-      K = ss (Ac, Bc, Cc, Dc, Atsam, ncstates, ndstates, Kst, Kin, Kout);
-      if (nargout >= 3)
-        GW = starp (Asys, K);
-      endif
-    endif
-
-  elseif (ndstates)
-
-    ## discrete time solution
-    error ("hinfsyn: discrete-time case not yet implemented")
-
-  endif
-
-endfunction
--- a/scripts/control/hinf/hinfsyn_chk.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,135 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{retval}, @var{pc}, @var{pf}] =} hinfsyn_chk (@var{a}, @var{b1}, @var{b2}, @var{c1}, @var{c2}, @var{d12}, @var{d21}, @var{g}, @var{ptol})
-## Called by @code{hinfsyn} to see if gain @var{g} satisfies conditions in
-## Theorem 3 of
-## Doyle, Glover, Khargonekar, Francis, @cite{State Space Solutions to Standard}
-## @iftex
-## @tex
-## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## @cite{H-2 and H-infinity}
-## @end ifinfo
-## @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989.
-##
-## @strong{Warning:} do not attempt to use this at home; no argument
-## checking performed.
-##
-## @strong{Inputs}
-##
-## As returned by @code{is_dgkf}, except for:
-## @table @var
-## @item g
-## candidate gain level
-## @item ptol
-##  as in @code{hinfsyn}
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item retval
-##  1 if g exceeds optimal Hinf closed loop gain, else 0
-## @item pc
-## solution of ``regulator''
-## @iftex
-## @tex
-## $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-infinity
-## @end ifinfo
-## @acronym{ARE}
-## @item pf
-## solution of ``filter''
-## @iftex
-## @tex
-## $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-infinity
-## @end ifinfo
-## @acronym{ARE}
-## @end table
-## Do not attempt to use this at home; no argument checking performed.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-
-function [retval, Pc, Pf] = hinfsyn_chk (A, B1, B2, C1, C2, D12, D21, g, ptol)
-
-  if (nargin != 9)
-    print_usage ();
-  endif
-
-  Pc = Pf = [];
-
-  ## Construct the two Hamiltonians
-  g2 = 1/(g*g);
-  Hc = [A,  g2*B1*B1' - B2*B2'; -C1'*C1, -A'];
-  Hf = [A', g2*C1'*C1 - C2'*C2; -B1*B1', -A];
-
-  ## check if Hc, Hf are in dom(Ric)
-  Hcminval = min (abs (real (eig (Hc))));
-  Hfminval = min (abs (real (eig (Hf))));
-  if (Hcminval < ptol);
-    warning ("hinfsyn_chk: Hc is not in dom(Ric)");
-    retval = 0;
-    return
-  endif
-  if(Hfminval < ptol)
-    warning ("hinfsyn_chk: Hf is not in dom(Ric)");
-    retval = 0;
-    return
-  endif
-
-  ## Solve ARE's
-  Pc = are (A, B2*B2'-g2*B1*B1', C1'*C1);
-  Pf = are (A', C2'*C2-g2*C1'*C1, B1*B1');
-
-  Pceig = eig (Pc);
-  Pfeig = eig (Pf);
-  Pcfeig = eig (Pc*Pf);
-
-  if (min (Pceig) < -ptol)
-    warning ("hinfsyn_chk: Pc is not >= 0");
-    retval = 0;
-    return
-  endif
-  if (min (Pfeig) < -ptol)
-    warning ("hinfsyn_chk: Pf is not >= 0");
-    retval = 0;
-    return
-  endif
-  if (max (abs (Pcfeig)) >= g*g)
-    warning ("hinfsyn_chk: rho(Pf*Pc) is not < g^2");
-    retval = 0;
-    return
-  endif
-
-  ## all conditions met.
-  retval = 1;
-
-endfunction
--- a/scripts/control/hinf/hinfsyn_ric.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,93 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{xinf}, @var{x_ha_err}] =} hinfsyn_ric (@var{a}, @var{bb}, @var{c1}, @var{d1dot}, @var{r}, @var{ptol})
-## Forms
-## @example
-## xx = ([bb; -c1'*d1dot]/r) * [d1dot'*c1 bb'];
-## Ha = [a 0*a; -c1'*c1 - a'] - xx;
-## @end example
-## and solves associated Riccati equation.
-## The error code @var{x_ha_err} indicates one of the following
-## conditions:
-## @table @asis
-## @item 0
-## successful
-## @item 1
-## @var{xinf} has imaginary eigenvalues
-## @item 2
-## @var{hx} not Hamiltonian
-## @item 3
-## @var{xinf} has infinite eigenvalues (numerical overflow)
-## @item 4
-## @var{xinf} not symmetric
-## @item 5
-## @var{xinf} not positive definite
-## @item 6
-## @var{r} is singular
-## @end table
-## @end deftypefn
-
-function [Xinf, x_ha_err] = hinfsyn_ric (A, BB, C1, d1dot, R, ptol)
-
-  if (nargin != 6)
-    print_usage ();
-  endif
-
-  x_ha_err = 0;        # assume success
-  Xinf = [];                 # default return value
-  n = issquare (A);
-  nw = issquare (R);
-  if (rank (R) != nw)
-    x_ha_err = 6;
-  else                 # build hamiltonian Ha for X_inf
-    xx = ([BB; -C1'*d1dot]/R) * [d1dot'*C1, BB'];
-    Ha = [A, 0*A; -C1'*C1, -A'] - xx;
-    x_ha_err = 0;
-    [d, Ha] = balance (Ha);
-    [u, s] = schur (Ha, "A");
-    rev = real (eig (s));
-
-    if (any (abs (rev) <= ptol))  # eigenvalues near the imaginary axis
-      x_ha_err = 1;
-    elseif (sum (rev > 0) != sum (rev < 0))
-      ## unequal number of positive and negative eigenvalues
-      x_ha_err = 2;
-    else
-      ## compute positive Riccati equation solution
-      u = d * u;
-      Xinf = u(n+1:2*n,1:n) / u(1:n,1:n);
-      if (! all (all (finite (Xinf))))
-        x_ha_err = 3;
-      elseif (norm (Xinf-Xinf') >= 10*ptol)
-        ## solution not symmetric
-        x_ha_err = 4;
-      else
-        ## positive semidefinite?
-        ## force symmetry (faster, avoids some convergence problems)
-        Xinf = (Xinf + Xinf')/2;
-        rev = eig (Xinf);
-        if (any (rev <= -ptol))
-          x_ha_err = 5;
-        endif
-      endif
-    endif
-  endif
-endfunction
--- a/scripts/control/hinf/is_dgkf.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,283 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{retval}, @var{dgkf_struct} ] =} is_dgkf (@var{asys}, @var{nu}, @var{ny}, @var{tol} )
-## Determine whether a continuous time state space system meets
-## assumptions of @acronym{DGKF} algorithm.
-## Partitions system into:
-## @example
-## [dx/dt]   [A  | Bw  Bu  ][w]
-## [ z   ] = [Cz | Dzw Dzu ][u]
-## [ y   ]   [Cy | Dyw Dyu ]
-## @end example
-## or similar discrete-time system.
-## If necessary, orthogonal transformations @var{qw}, @var{qz} and nonsingular
-## transformations @var{ru}, @var{ry} are applied to respective vectors
-## @var{w}, @var{z}, @var{u}, @var{y} in order to satisfy @acronym{DGKF} assumptions.
-## Loop shifting is used if @var{dyu} block is nonzero.
-##
-## @strong{Inputs}
-## @table @var
-## @item         asys
-## system data structure
-## @item           nu
-## number of controlled inputs
-## @item        ny
-## number of measured outputs
-## @item        tol
-## threshold for 0; default: 200*@code{eps}.
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item    retval
-## true(1) if system passes check, false(0) otherwise
-## @item    dgkf_struct
-## data structure of @command{is_dgkf} results.  Entries:
-## @table @var
-## @item      nw
-## @itemx     nz
-## dimensions of @var{w}, @var{z}
-## @item      a
-## system @math{A} matrix
-## @item      bw
-## (@var{n} x @var{nw}) @var{qw}-transformed disturbance input matrix
-## @item      bu
-## (@var{n} x @var{nu}) @var{ru}-transformed controlled input matrix;
-##
-## @math{B = [Bw Bu]}
-## @item      cz
-## (@var{nz} x @var{n}) Qz-transformed error output matrix
-## @item      cy
-## (@var{ny} x @var{n}) @var{ry}-transformed measured output matrix
-##
-## @math{C = [Cz; Cy]}
-## @item      dzu
-## @item      dyw
-## off-diagonal blocks of transformed system @math{D} matrix that enter
-## @var{z}, @var{y} from @var{u}, @var{w} respectively
-## @item      ru
-## controlled input transformation matrix
-## @item      ry
-## observed output transformation matrix
-## @item      dyu_nz
-## nonzero if the @var{dyu} block is nonzero.
-## @item      dyu
-## untransformed @var{dyu} block
-## @item      dflg
-## nonzero if the system is discrete-time
-## @end table
-## @end table
-## @code{is_dgkf} exits with an error if the system is mixed
-## discrete/continuous.
-##
-## @strong{References}
-## @table @strong
-## @item [1]
-## Doyle, Glover, Khargonekar, Francis, @cite{State Space Solutions to Standard}
-## @iftex
-## @tex
-## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## @cite{H-2 and H-infinity}
-## @end ifinfo
-## @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989.
-## @item [2]
-## Maciejowksi, J.M., @cite{Multivariable Feedback Design}, Addison-Wesley, 1989.
-## @end table
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Updated by John Ingram July 1996 to accept structured systems
-
-## Revised by Kai P. Mueller April 1998 to solve the general H_infinity
-## problem using unitary transformations Q (on w and z)
-## and non-singular transformations R (on u and y) such
-## that the Dzu and Dyw matrices of the transformed plant
-##
-##    ~
-##    P  (the variable Asys here)
-##
-## become
-##
-##    ~            -1         T
-##    D  = Q   D   R   = [ 0 I ]  or [ I ],
-##     12   12  12  12
-##
-##    ~            T
-##    D  = R   D   Q   = [ 0 I ] or [ I ].
-##     21   21  21  21
-##
-## This transformation together with the algorithm in [1] solves
-## the general problem (see [2] for example).
-
-function [retval, dgkf_struct] = is_dgkf (Asys, nu, ny, tol)
-
-  if (nargin < 3) || (nargin > 4)
-    print_usage ();
-  elseif (! isscalar (nu) || ! isscalar (ny))
-    error ("is_dgkf: arguments 2 and 3 must be scalars")
-  elseif (! isstruct (Asys))
-    error ("Argument 1 must be a system data structure");
-  endif
-  if (nargin < 4)
-    if (isa (Asys.a, "single") || isa (Asys.b, "single") || isa (Asys.c, "single") ||
-	isa (Asys.d, "single"))
-      tol = 200*eps("single");
-    else
-      tol = 200*eps;
-    endif
-      elseif (! is_sample (tol))
-    error ("is_dgkf: tol must be a positive scalar")
-  endif
-
-  retval = 1;           # assume passes test
-
-  dflg = is_digital (Asys);
-  [Anc, Anz, nin, nout ] = sysdimensions (Asys);
-
-  if (Anz == 0 && Anc == 0)
-    error ("is_dgkf: no system states");
-  elseif (nu >= nin)
-    error ("is_dgkf: insufficient number of disturbance inputs");
-  elseif (ny >= nout)
-    error ("is_dgkf: insufficient number of regulated outputs");
-  endif
-
-  nw = nin - nu;
-  nz = nout - ny;
-
-  nw1 = nw + 1;
-  nz1 = nz + 1;
-
-  [A, B, C, D] = sys2ss (Asys);
-  ## scale input/output for numerical reasons
-  if (norm (C, "fro") * norm (B, "fro") == 0)
-    error ("||C||*||B|| = 0; no dynamic connnection from inputs to outputs");
-  endif
-  xx = sqrt (norm (B, Inf) / norm (C, Inf));
-  B = B / xx;  C = C * xx;
-
-  ## partition matrices
-  Bw = B(:,1:nw);
-  Bu = B(:,nw1:nin);
-
-  Cz = C(1:nz,:);
-  Cy = C(nz1:nout,:);
-
-  Dzw = D(1:nz,1:nw);
-  Dzu = D(1:nz,nw1:nin);
-
-  Dyw = D(nz1:nout,1:nw);
-  Dyu = D(nz1:nout,nw1:nin);
-
-  ## Check for loopo shifting
-  Dyu_nz = (norm (Dyu, Inf) != 0);
-  if (Dyu_nz)
-    warning ("is_dgkf: D22 nonzero; performing loop shifting");
-  endif
-
-  ## 12 - rank condition at w = 0
-  xx =[A, Bu; Cz, Dzu];
-  [nr, nc] = size (xx);
-  irank = rank (xx);
-  if (irank != nc)
-    retval = 0;
-    warning ("rank([A Bu; Cz Dzu]) = %d, need %d; n=%d, nz=%d, nu=%d",
-             irank, nc, Anc+Anz, nz, nu);
-    warning (" *** 12-rank condition violated at w = 0");
-  endif
-
-  ## 21 - rank condition at w = 0
-  xx =[A, Bw; Cy, Dyw];
-  [nr, nc] = size (xx);
-  irank = rank (xx);
-  if (irank != nr)
-    retval = 0;
-    warning ("rank([A Bw; Cy Dyw]) = %d, need %d; n=%d, ny=%d, nw=%d",
-             irank, nr, Anc+Anz, ny, nw);
-    warning (" *** 21-rank condition violated at w = 0");
-  endif
-
-  ## can Dzu be transformed to become [0 I]' or [I]?
-  ## This ensures a normalized weight
-  [Qz, Ru] = qr (Dzu);
-  irank = rank (Ru);
-  if (irank != nu)
-    retval = 0;
-    warning ("*** rank(Dzu(%d x %d) = %d", nz, nu, irank);
-    warning ("*** Dzu does not have full column rank");
-  endif
-  if (nu >= nz)
-    Qz = Qz(:,1:nu)';
-  else
-    Qz = [Qz(:,(nu+1):nz), Qz(:,1:nu)]';
-  endif
-  Ru = Ru(1:nu,:);
-
-  ## can Dyw be transformed to become [0 I] or [I]?
-  ## This ensures a normalized weight
-  [Qw, Ry] = qr (Dyw');
-  irank = rank (Ry);
-  if (irank != ny)
-    retval = 0;
-    warning ("*** rank(Dyw(%d x %d) = %d", ny, nw, irank);
-    warning (" *** Dyw does not have full row rank");
-  endif
-
-  if (ny >= nw)
-    Qw = Qw(:,1:ny);
-  else
-    Qw = [Qw(:,(ny+1):nw), Qw(:,1:ny)];
-  endif
-  Ry = Ry(1:ny,:)';
-
-  ## transform P by Qz/Ru and Qw/Ry
-  Bw  = Bw*Qw;
-  Bu  = Bu/Ru;
-  B   = [Bw, Bu];
-  Cz  = Qz*Cz;
-  Cy  = Ry\Cy;
-  C   = [Cz; Cy];
-  Dzw = Qz*Dzw*Qw;
-  Dzu = Qz*Dzu/Ru;
-  Dyw = Ry\Dyw*Qw;
-
-  ## pack the return structure
-  dgkf_struct.nw = nw;
-  dgkf_struct.nu = nu;
-  dgkf_struct.nz = nz;
-  dgkf_struct.ny = ny;
-  dgkf_struct.A  = A;
-  dgkf_struct.Bw = Bw;
-  dgkf_struct.Bu = Bu;
-  dgkf_struct.Cz = Cz;
-  dgkf_struct.Cy = Cy;
-  dgkf_struct.Dzw = Dzw;
-  dgkf_struct.Dzu = Dzu;
-  dgkf_struct.Dyw = Dyw;
-  dgkf_struct.Dyu = Dyu;
-  dgkf_struct.Ru = Ru;
-  dgkf_struct.Ry = Ry;
-  dgkf_struct.Dyu_nz = Dyu_nz;
-  dgkf_struct.dflg = dflg;
-
-endfunction
--- a/scripts/control/hinf/wgt1o.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,75 +0,0 @@
-## Copyright (C) 1998, 2000, 2004, 2005, 2006, 2007 Kai P. Mueller
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{W} =} wgt1o (@var{vl}, @var{vh}, @var{fc})
-## State space description of a first order weighting function.
-##
-## Weighting function are needed by the
-## @iftex
-## @tex
-## $ { \cal H }_2 / { \cal H }_\infty $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-2/H-infinity
-## @end ifinfo
-## design procedure.
-## These functions are part of the augmented plant @var{P}
-## (see @command{hinfdemo} for an application example).
-##
-## @strong{Inputs}
-## @table @var
-## @item vl
-## Gain at low frequencies.
-## @item vh
-## Gain at high frequencies.
-## @item fc
-## Corner frequency (in Hz, @strong{not} in rad/sec)
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item W
-## Weighting function, given in form of a system data structure.
-## @end table
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: September 30, 1997
-
-function wsys = wgt1o (vl, vh, fc)
-
-  if (nargin != 3)
-    print_usage ();
-  endif
-
-  if (vl == vh)
-      a = [];
-      b = [];
-      c = [];
-  else
-      a = -2*pi*fc;
-      b = -2*pi*fc;
-      c = vh-vl;
-  endif
-  d = vh;
-
-  wsys = ss (a, b, c, d);
-
-endfunction
--- a/scripts/control/install-ocst	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,234 +0,0 @@
-#!/bin/sh
-#
-# install-ocst   --   install/update Octave Controls Toolbox (OCST)
-#                    of A. Scottedward Hodel <A.S.Hodel@Eng.Auburn.EDU>
-#
-# This script uses chunks of "install-octave"
-# from John W. Eaton <jwe@bevo.che.wisc.edu>
-#
-# Kai P Mueller <mueller@ifr.ing.tu-bs.-de>, TU Braunschweig
-# 11/22/97 initial version
-#
-
-if [ $# -ne 1 ]
-then
-  echo
-  echo "    usage: $0 (help | all | select)"
-  echo
-  exit 1
-fi
-
-case $1 in
-
-  help)
-    cat << EOF
-==========================================================================
-  install-ocst attempts to install (or update) the OCST (Octave controls
-  toolbox) of your version of Octave.
-
-   The files in the subdirectories "general", "linear-algebra",
-   "strings", "plot", and "control" will be copied to the Octave data
-   directories with proper permissions.
-
-   If the file "obsolete.files" exists this script file fill
-   ask if the files listed in "obsolete.files" should be removed.
-
-   The install and update procedures differ in the way they perform the
-   copy of the  files in this OCST version.
-
-   o all     Copy all files to the Octave data directories assuming that
-             this version is newer. Install does not ask any questions.
-	     This modfe is best if you are the system administrator you
-	     just want to install the control stuff.
-
-   o select  Copy all files but ask before replacing an existing file
-             which differs from the one in this distribution. The update
-	     mode is appropriate for developers. New files will be
-	     copied without confirmation.
-	     Note: it can be very annoying to confirm the replacements.
-==========================================================================
-EOF
-    exit 0
-    ;;
-
-  all)
-    ask=no
-    ;;
-
-  select)
-    ask=yes
-    ;;
-
-  *)
-    echo
-    echo "    usage: $0 (help | all | select)"
-    echo
-    exit 1
-    ;;
-esac
-
-if [ `whoami` != root ]
-then
-  echo -n " * You should execute install-ocst as root, continue anyway? [n]: "
-  read ans
-  case "$ans" in
-    y | Y | yes | YES)
-    ;;
-    *)
-      exit 1
-    ;;
-  esac
-fi
-
-# change location of the distribution file here:
-ocst_version=1.2
-datadir=/usr/local/share
-oct_version=2.0.12
-
-echo
-echo " - This is the OCST V$ocst_version update procedure -"
-
-# change everything below at your own risk.
-# check data directory
-echo
-echo -n " * Octave data dir is $datadir/octave; is that correct? [y]: "
-read ans
-case "$ans" in
-  n | N | no | NO)
-    echo -n " * Enter Octave data dir (without /octave/...): "
-    read datadir
-  ;;
-esac
-if [ ! -d "$datadir/octave" ]
-then
-  echo "install-ocst: Octave dir ($datadir/octave) does not exist - Goodbye."
-  exit 1
-fi
-
-# check Octave version
-echo
-echo -n " * Octave version is $oct_version; is that correct? [y]: "
-read ans
-case "$ans" in
-  n | N | no | NO)
-    echo -n " * Enter Octave version: "
-    read oct_version
-  ;;
-esac
-toplevel=$datadir/octave/$oct_version/m
-if [ ! -d $toplevel ]
-then
-echo "install-ocst: toplevel dir ($toplevel) does not exist - Goodbye."
-  exit 1
-fi
-
-# perform installation
-echo
-echo -n " * This is your last chance to quit, continue installation? [y]: "
-read ans
-case "$ans" in
-  n | N | no | NO)
-    echo "install-ocst aborted."
-    exit 0
-  ;;
-esac
-
-echo
-distdir=`pwd`
-for dd in general linear-algebra strings plot control
-do
-  if [ -d "$dd" ]
-  then
-    echo " o installing files in $dd..."
-    cd $dd
-    for ff in `ls`
-    do
-      if [ $ask = yes ]
-      then
-        if [ -e "$toplevel/$dd/$ff" ]
-	then
-	  diff $ff "$toplevel/$dd/$ff" > /dev/null
-	  if [ "$?" = 0 ]
-	  then
-	    # files are identical; do not copy
-	    echo "---> $ff  (same version does already exist, no replacement)"
-	  else
-	    # file already exit, our version is (possible) newer
-            echo -n " * Replace existing $ff? [y]: "
-            read ans
-            case "$ans" in
-              n | N | no | NO)
-	        echo "---> $ff skipped."
-              ;;
-              *)
-                cp $ff $toplevel/$dd
-                chmod 644 $toplevel/$dd/$ff
-              ;;
-            esac
-	  fi
-	else
-	  echo "---> $ff  (new file)"
-          cp $ff $toplevel/$dd
-          chmod 644 $toplevel/$dd/$ff
-	fi
-      else
-        # copy everything without asking
-        cp $ff $toplevel/$dd
-        chmod 644 $toplevel/$dd/$ff
-      fi
-    done
-    echo "   ...files in $dd installed."
-  fi
-  cd $distdir
-done
-
-# check for "obsolete.files"
-if [ ! -r obsolete.files ]
-then
-  echo " o No obsolete files."
-else
-  echo " o removing obsolete files..."
-  flist=`cat obsolete.files`
-  for ff in $flist
-  do
-    dfile=$toplevel/$ff
-    if [ ! -e "$dfile" ]
-    then
-      echo " * no obsolete file: $ff"
-    else
-      echo -n " * remove $ff? [n]: "
-      read ans
-      case "$ans" in
-        y | Y | yes | YES)
-          rm $dfile
-        ;;
-      esac
-    fi
-  done
-fi
-
-echo
-echo "   All files have been installed. Now to the final question:"
-echo
-
-echo -n " * Replace/create ls-R file? [y]: "
-read ans
-case "$ans" in
-  n | N | no | NO)
-    echo "--> no new ls-R file."
-  ;;
-  *)
-    if [ -d "$datadir/libexec" ]
-    then
-      echo "install-ocst: libexec directory found."
-      ls -LR $datadir/octave $libexecdir/octave > $datadir/octave/ls-R
-    else
-      echo "install-ocst: libexec directory not found."
-      echo "              (you can safely ingnore this message.)"
-      ls -LR $datadir/octave > $datadir/octave/ls-R
-    fi
-  ;;
-esac
-
-echo "Thank you for using install-ocst."
-exit 0
--- a/scripts/control/obsolete/Makefile.in	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,84 +0,0 @@
-# Makefile for octave's scripts/control/obsolete directory
-#
-# Copyright (C) 2000, 2002, 2005, 2006, 2007 John W. Eaton
-#
-# 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 3 of the License, 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, see
-# <http://www.gnu.org/licenses/>.
-
-TOPDIR = ../../..
-
-script_sub_dir = control/obsolete
-
-srcdir = @srcdir@
-top_srcdir = @top_srcdir@
-VPATH = @srcdir@
-
-include $(TOPDIR)/Makeconf
-
-INSTALL = @INSTALL@
-INSTALL_PROGRAM = @INSTALL_PROGRAM@
-INSTALL_DATA = @INSTALL_DATA@
-
-SOURCES = dezero.m dlqg.m minfo.m packsys.m qzval.m rotg.m \
-  series.m swapcols.m swaprows.m syschnames.m unpacksys.m
-
-DISTFILES = $(addprefix $(srcdir)/, Makefile.in $(SOURCES))
-
-FCN_FILES = $(addprefix $(srcdir)/, $(SOURCES))
-FCN_FILES_NO_DIR = $(notdir $(FCN_FILES))
-
-all: PKG_ADD
-.PHONY: all
-
-install install-strip:
-	$(do-script-install)
-.PHONY: install install-strip
-
-uninstall:
-	$(do-script-uninstall)
-.PHONY: uninstall
-
-clean:
-.PHONY: clean
-
-PKG_ADD: $(FCN_FILES)
-	@echo "making PKG_ADD"
-	@$(do-mkpkgadd)
-
-tags: $(SOURCES)
-	ctags $(SOURCES)
-
-TAGS: $(SOURCES)
-	etags $(SOURCES)
-
-mostlyclean: clean
-.PHONY: mostlyclean
-
-distclean: clean
-	rm -f Makefile PKG_ADD
-.PHONY: distclean
-
-maintainer-clean: distclean
-	rm -f tags TAGS
-.PHONY: maintainer-clean
-
-dist:
-	ln $(DISTFILES) ../../../`cat ../../../.fname`/scripts/$(script_sub_dir)
-.PHONY: dist
-
-check-m-sources:
-	@$(do-check-m-sources)
-.PHONY: check-m-sources
--- a/scripts/control/obsolete/dezero.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,58 +0,0 @@
-## Copyright (C) 1996, 2000, 2005, 2006, 2007 Kurt Hornik
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Functin File} {} dezero (@var{s})
-## Remove trailing blank entries and all zero entries from the string s.
-## @end deftypefn
-
-## Author: Kurt Hornik <Kurt.Hornik@wu-wien.ac.at>
-## Adapted-By: jwe
-
-## Adapted from deblank by A. S. Hodel (a.s.hodel@eng.auburn.edu)
-##      (the name dezero is a reference to the Fermilab D0 experiment,
-##      where my sister did her PhD research)
-
-function t = dezero (s)
-
-  ## delete the next line if you're stubbornly going to use dezero.
-  error ("dezero is no longer supported.");
-
-  if (nargin != 1)
-    print_usage ();
-  elseif (ischar (s))
-
-    [nr, nc] = size (s);
-    len = nr * nc;
-
-    if (len == 0)
-      t = s;
-    else
-
-      s = reshape (s, 1, len);
-
-      ## need to remove zeros first, then call deblank
-      s = toascii (s);
-      t = deblank (char (s(find (s != 0))));
-    endif
-
-  else
-    error ("dezero: expecting string argument");
-  endif
-
-endfunction
--- a/scripts/control/obsolete/dlqg.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,125 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-##  O B S O L E T E * * * D O   N O T   U S E!
-##
-##  Use lqg instead.
-##
-## function [K,Q,P,Ee,Er] = dlqg(A,B,C,G,Sigw,Sigv,Q,R)
-## function [K,Q,P,Ee,Er] = dlqg(Sys,Sigw,Sigv,Q,R)
-##
-## design a discrete-time linear quadratic gaussian optimal controller
-## for the system
-##
-##  x(k+1) = A x(k) + B u(k) + G w(k)       [w]=N(0,[Sigw 0    ])
-##    y(k) = C x(k) + v(k)                  [v]  (    0   Sigv ])
-##
-## Outputs:
-##    K: system data structure format LQG optimal controller
-##    P: Solution of control (state feedback) algebraic Riccati equation
-##    Q: Solution of estimation algebraic Riccati equation
-##    Ee: estimator poles
-##    Es: controller poles
-## inputs:
-##  A,B,C,G, or Sys: state space representation of system.
-##  Sigw, Sigv: covariance matrices of independent Gaussian noise processes
-##      (as above)
-##  Q, R: state, control weighting matrices for dlqr call respectively.
-##
-## See also: lqg, dlqe, dlqr
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-
-function [K, Q, P, Ee, Er] = dlqg (A, B, C, G, Sigw, Sigv, Q, R)
-
-  warning ("dlqg: obsolete. use lqg instead (system data structure format)");
-
-  if (nargin == 5)
-    ## system data structure format
-
-    ## check that it really is system data structure
-    if (! isstruct (A))
-      error ("dlqg: 5 arguments, first argument is not a system data structure structure")
-    endif
-
-    sys = sysupdate (sys, "ss");    # make sure in proper form
-    [ncstates, ndstates, nin, nout] = sysdimensions (sys);
-    if (ndstates == -1)
-      error ("this message should never appear: bad system dimensions");
-    endif
-
-    if (ncstates)
-      error ("dlqg: system has continuous-time states (try lqg?)")
-    elseif (ndstates < 1)
-      error ("dlqg: system has no discrete time states")
-    elseif (nin <= columns (Sigw))
-      error ("dlqg: %d inputs provided, noise dimension is %d",
-	      nin, columns (Sigw));
-    elseif (nout != columns(Sigv))
-      error ("dlqg: number of outputs (%d) incompatible with dimension of Sigv (%d)",
-	     nout, columns (Sigv));
-    endif
-
-    ## put parameters into correct variables
-    R = Sigw;
-    Q = G;
-    Sigv = C;
-    Sigw = B;
-    [A, B, C, D] = sys2ss (Sys)
-    [n, m] = size (B)
-    m1 = columns(Sigw);
-    m2 = m1+1;
-    G = B(:,1:m1);
-    B = B(:,m2:m);
-
-  elseif (nargin == 8)
-    ## state-space format
-    m = columns (B);
-    m1 = columns (G);
-    p = rows (C);
-    n = abcddim (A, B, C, zeros (p, m));
-    n1 = abcddim (A, G, C, zeros (p, m1));
-    if (n == -1 || n1 == -1)
-      error ("dlqg: A,B,C,G incompatibly dimensioned");
-    elseif (p != columns (Sigv))
-      error ("dlqg: C, Sigv incompatibly dimensioned");
-    elseif (m1 != columns (Sigw))
-      error ("dlqg: G, Sigw incompatibly dimensioned");
-    endif
-  else
-    error ("dlqg: invalid number of arguments")
-  endif
-
-  if (! (issquare (Sigw) && issquare (Sigv)))
-    error ("dlqg: Sigw, Sigv must be square");
-  endif
-
-  ## now we can just do the design; call dlqr and dlqe, since all matrices
-  ## are not given in Cholesky factor form (as in h2syn case)
-  [Ks, P, Er] = dlqr (A, B, Q, R);
-  [Ke, Q, jnk, Ee] = dlqe (A, G, C, Sigw, Sigv);
-  Ac = A - Ke*C - B*Ks;
-  Bc = Ke;
-  Cc = -Ks;
-  Dc = zeros (rows(Cc), columns(Bc));
-  K = ss (Ac, Bc, Cc, Dc, 1);
-  disp ("HODEL: need to add names to this guy!")
-
-endfunction
--- a/scripts/control/obsolete/minfo.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,95 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{systype}, @var{nout}, @var{nin}, @var{ncstates}, @var{ndstates}] =} minfo (@var{inmat})
-## Determines the type of system matrix.  @var{inmat} can be a varying,
-## a system, a constant, and an empty matrix.
-##
-## @strong{Outputs}
-## @table @var
-## @item systype
-## Can be one of: varying, system, constant, and empty.
-## @item nout
-## The number of outputs of the system.
-## @item nin
-## The number of inputs of the system.
-## @item ncstates
-## The number of continuous states of the system.
-## @item ndstates
-## The number of discrete states of the system.
-## @end table
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: July 29, 1994
-## Modified by David Clem November 13, 1994
-## Modified by A. S. Hodel July 1995
-
-function [systype, nout, nin, ncstates, ndstates] = minfo (inmat)
-
-  warning ("minfo: obsolete.  Use sys2ss, sys2tf, or sys2zp.");
-
-  if (nargin != 1 )
-    disp ("MINFO: Wrong number of arguments")
-    systype = nout = nin = ncstates = ndstates = [];
-  endif
-
-  [rr, cc] = size (inmat);
-
-  ## Check for empty matrix first!
-  if (isempty (inmat))
-    systype = "empty";
-    nout = nin = ncstates = ndstates = 0;
-    return
-
-  ## Check for Constant matrix
-
-  elseif (rr == 1 || cc == 1)
-    systype = "constant";
-    nout = nin = ncstates = ndstates = 1;
-    return
-
-  ## Check for system type matrix
-  elseif (inmat(rr,cc) == -Inf)
-    systype = "system";
-    ncstates = inmat(1,cc);
-    ndstates = inmat(rr,1);
-    nstates = ncstates + ndstates;
-    nout = rr - nstates - 1;
-    nin = cc - nstates - 1;
-
-  ## Check for Varying type matrix
-  elseif (inmat(rr,cc) == Inf)
-    systype = "varying";
-    npoints = inmat(rr,cc-1);
-    nin = cc - 1;
-    nout = rr / npoints;
-    nstates = 0;
-
-    ## Must be a standard matrix
-  else
-    systype = "constant";
-    nin = cc;
-    nout = rr;
-    ncstates = 0;
-    ndstates = 0;
-  endif
-
-endfunction
--- a/scripts/control/obsolete/packsys.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,71 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## O B S O L E T E: use ss instead.
-## function Asys = packsys(a,b,c[,d,dflg])
-##
-##   dflg: 0 for continuous time system, 1 for discrete-time system.
-##
-## defaults:
-##      D: 0 matrix of appropriate dimension.
-##   dflg: 0 (continuous time)
-##
-## Note: discrete-state sampling time is not included!
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: July 29, 1994
-## Modified by David Clem November 13, 1994
-## Modified by A. S. Hodel April 1995
-
-function Asys = packsys (a, b, c, d, dflg)
-
-  warning("packsys is obsolete!  Use ss instead.");
-
-  if (nargin < 3 || nargin > 5)
-    disp ("packsys: Invalid number of arguments");
-  endif
-
-  ## check dflg
-  if (nargin == 5)
-    if (! isscalar (dflg))
-      [m, n] = size(dflg);
-      error ("packsys: dflg (%d,%d) must be a scalar", m, n);
-    elseif (dflg != 0 && dflg != 1)
-      error ("packsys: dflg=%g must be 0 or 1", dflg);
-    endif
-  else
-    ## default condition
-    dflg = 0;
-  endif
-
-  if (nargin == 3)
-    ## No D matrix.  Form a zero one!
-    [brows, bcols] = size (b);
-    [crows, ccols] = size (c);
-    d = zeros (crows, bcols);
-  endif
-
-  [n, m, p] = abcddim (a, b, c, d);
-  if (n == -1 || m == -1 || p == -1)
-    error ("packsys: incompatible dimensions")
-  endif
-
-  Asys = ss (a, b, c, d, dflg);
-
-endfunction
--- a/scripts/control/obsolete/qzval.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,47 +0,0 @@
-## Copyright (C) 1998, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} qzval (@var{a}, @var{b})
-## Compute generalized eigenvalues of the matrix pencil
-## @ifinfo
-## @example
-## (A - lambda B).
-## @end example
-## @end ifinfo
-## @iftex
-## @tex
-## $(A - \lambda B)$.
-## @end tex
-## @end iftex
-##
-## @var{a} and @var{b} must be real matrices.
-##
-## @code{qzval} is obsolete; use @code{qz} instead.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 1998
-
-function lam = qzval (A, B)
-
-  warning ("qzval is obsolete; calling qz instead")
-  lam = qz (A, B);
-
-endfunction
--- a/scripts/control/obsolete/rotg.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,29 +0,0 @@
-## Copyright (C) 1996, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## function [c,s] = rotg(a,b)
-## givens rotation calculation
-##
-## NOTE: Use [c,s] = givens(a,b) instead.
-
-function [c, s] = rotg (a, b)
-
-  [c, s] = givens (a, b);
-
-endfunction
--- a/scripts/control/obsolete/series.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,100 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Forms the series connection of two systems.
-##
-## Superseded by sysmult.  Do not use this routine!
-## used internally in zp2ss
-##
-## Type of input: Transfer functions
-## Command:       [num,den]=series(num1,den1,num2,den2)
-## Forms the series representation of the two transfer functions.
-##
-## Type of input: State space systems
-## Command:       [a,b,c,d]=series(a1,b1,c1,d1,a2,b2,c2,d2)
-## Forms the series representation of the two state space system arguments.
-## The series connected system will have the inputs of system 1 and the
-## outputs of system 2.
-##
-## Type of input: system data structure
-## Command:       syst=series(syst1,syst2)
-## Forms the series representation of the two mu system arguments.
-
-## Author: David Clem
-## Created: August 15, 1994
-
-function [a, b, c, d] = series (a1, b1, c1, d1, a2, b2, c2, d2)
-
-  ## If two arguments input, take care of mu system case
-
-  warning ("series is superseded by sysmult; use sysmult instead.")
-
-  muflag = 0;
-  if (nargin == 2)
-    temp = b1;
-    [a1, b1, c1, d1] = sys2ss (a1);
-    [a2, b2, c2, d2] = sys2ss (temp);
-    muflag = 1;
-  endif
-
-  ## If four arguments input, put two transfer functions in series
-
-  if (nargin == 4)
-    a = conv (a1, c1);    # was conv1
-    b = conv (b1, d1);    # was conv1
-    c = 0;
-    d = 0;
-
-    ## Find series combination of 2 state space systems
-
-  elseif (nargin == 8 || muflag == 1)
-
-    ## check matrix dimensions
-
-    [n1, m1, p1] = abcddim (a1, b1, c1, d1);
-    [n2, m2, p2] = abcddim (a2, b2, c2, d2);
-
-    if (n1 == -1 || n2 == -1)
-      error ("incorrect matrix dimensions");
-    endif
-
-    ## check to make sure the number of outputs of system1 equals the number
-    ## of inputs of system2
-
-   if(p1 != m2)
-     error ("system 1 output / system 2 input connection sizes do not match");
-   endif
-
-   ## put the two state space systems in series
-
-    a = [a1, zeros(rows(a1), columns(a2)); b2*c1, a2];
-    b = [b1; b2*d1];
-    c = [d2*c1, c2];
-    d = [d2*d1];
-
-    ## take care of mu output
-
-    if (muflag == 1)
-      a = ss (a, b, c, d);
-      b = c = d = 0;
-    endif
-  endif
-
-endfunction
-
--- a/scripts/control/obsolete/swapcols.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,39 +0,0 @@
-## Copyright (C) 1996, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} swapcols (inputs)
-## @format
-##  function B = swapcols(A)
-##  permute columns of A into reverse order
-## @end format
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 23, 1992
-## Conversion to Octave R. Bruce Tenison July 4, 1994
-
-function B = swapcols (A)
-
-  m = length (A(1,:));
-  idx = m:-1:1;
-  B = A(:,idx);
-
-endfunction
-
--- a/scripts/control/obsolete/swaprows.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,39 +0,0 @@
-## Copyright (C) 1996, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} swaprows (inputs)
-## @format
-##  function B = swaprows(A)
-##  permute rows of A into reverse order
-## @end format
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 23, 1992
-## Conversion to Octave R. Bruce Tenison July 4, 1994
-
-function B = swaprows (A)
-
-  m = rows (A);
-  idx = m:-1:1;
-  B = A(idx,:);
-
-endfunction
-
--- a/scripts/control/obsolete/syschnames.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,33 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} syschnames (@var{sys}, @var{opt}, @var{list}, @var{names})
-## Superseded by @command{syssetsignals}.
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: August 1996
-## updated by A. S. Hodel 1998
-
-function retsys = syschnames (sys, opt, list, names)
-
-  retsys = syssetsignals (sys, opt, names, list);
-
-endfunction
--- a/scripts/control/obsolete/unpacksys.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,32 +0,0 @@
-## Copyright (C) 1996, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## [a,b,c,d] = unpacksys(sys)
-## Obsolete.  Use sys2ss instead.
-
-## Author: David Clem
-## Created: August 19, 1994
-
-function [a, b, c, d] = unpacksys (syst)
-
-  warning ("unpacksys obsolete; calling sys2ss");
-  [a, b, c, d] = sys2ss (syst);
-
-endfunction
-
--- a/scripts/control/system/Makefile.in	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,97 +0,0 @@
-# Makefile for octave's scripts/control/system directory
-#
-# Copyright (C) 2000, 2002, 2005, 2006, 2007 John W. Eaton
-#
-# 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 3 of the License, 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, see
-# <http://www.gnu.org/licenses/>.
-
-TOPDIR = ../../..
-
-script_sub_dir = control/system
-
-srcdir = @srcdir@
-top_srcdir = @top_srcdir@
-VPATH = @srcdir@
-
-include $(TOPDIR)/Makeconf
-
-INSTALL = @INSTALL@
-INSTALL_PROGRAM = @INSTALL_PROGRAM@
-INSTALL_DATA = @INSTALL_DATA@
-
-SOURCES = __abcddims__.m __syschnamesl__.m __sysconcat__.m \
-  __syscont_disc__.m __sysdefioname__.m __sysdefstname__.m \
-  __sysgroupn__.m __tf2sysl__.m __tfl__.m __zp2ssg2__.m \
-  abcddim.m buildssic.m c2d.m cellidx.m d2c.m dmr2d.m fir2sys.m \
-  is_abcd.m is_controllable.m is_detectable.m is_digital.m \
-  is_observable.m is_sample.m is_signal_list.m is_siso.m \
-  is_stabilizable.m is_stable.m jet707.m listidx.m moddemo.m \
-  ord2.m packedform.m parallel.m ss.m ss2sys.m ss2tf.m ss2zp.m \
-  starp.m sys2fir.m sys2ss.m sys2tf.m sys2zp.m sysadd.m \
-  sysappend.m syschtsam.m sysconnect.m syscont.m sysdimensions.m \
-  sysdisc.m sysdup.m sysgetsignals.m sysgettsam.m sysgettype.m \
-  sysgroup.m sysidx.m sysmin.m sysmult.m sysout.m sysprune.m \
-  sysreorder.m sysrepdemo.m sysscale.m syssetsignals.m syssub.m \
-  sysupdate.m tf.m tf2ss.m tf2sys.m tf2zp.m tfout.m ugain.m zp.m \
-  zp2ss.m zp2sys.m zp2tf.m zpout.m
-
-DISTFILES = $(addprefix $(srcdir)/, Makefile.in $(SOURCES))
-
-FCN_FILES = $(addprefix $(srcdir)/, $(SOURCES))
-FCN_FILES_NO_DIR = $(notdir $(FCN_FILES))
-
-all: PKG_ADD
-.PHONY: all
-
-install install-strip:
-	$(do-script-install)
-.PHONY: install install-strip
-
-uninstall:
-	$(do-script-uninstall)
-.PHONY: uninstall
-
-clean:
-.PHONY: clean
-
-PKG_ADD: $(FCN_FILES)
-	@echo "making PKG_ADD"
-	@$(do-mkpkgadd)
-
-tags: $(SOURCES)
-	ctags $(SOURCES)
-
-TAGS: $(SOURCES)
-	etags $(SOURCES)
-
-mostlyclean: clean
-.PHONY: mostlyclean
-
-distclean: clean
-	rm -f Makefile PKG_ADD
-.PHONY: distclean
-
-maintainer-clean: distclean
-	rm -f tags TAGS
-.PHONY: maintainer-clean
-
-dist:
-	ln $(DISTFILES) ../../../`cat ../../../.fname`/scripts/$(script_sub_dir)
-.PHONY: dist
-
-check-m-sources:
-	@$(do-check-m-sources)
-.PHONY: check-m-sources
--- a/scripts/control/system/__abcddims__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,41 +0,0 @@
-## Copyright (C) 1997, 2000, 2003, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{y}, @var{my}, @var{ny}] =} __abcddims__ (@var{x})
-##
-## Used internally in @code{abcddim}.  If @var{x} is a zero-size matrix,
-## both dimensions are set to 0 in @var{y}.
-## @var{my} and @var{ny} are the row and column dimensions of the result.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: February 1997
-
-function [y, my, ny] = __abcddims__ (x)
-
-  y = x;
-  if (isempty (y))
-    y = [];
-  endif
-  [my, ny] = size (y);
-
-endfunction
--- a/scripts/control/system/__syschnamesl__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,120 +0,0 @@
-## Copyright (C) 1996, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} __syschnamesl__ (@var{olist}, @var{old_names}, @var{inames}, @var{listname})
-## used internally in syschnames
-## item olist: index list
-## old_names: original list names
-## inames: new names
-## listname: name of index list
-##
-## combines the two string lists old_names and inames
-## @end deftypefn
-
-function old_names = __syschnamesl__ (olist, old_names, inames, listname)
-
-  probstr = [];
-
-  if (max (olist) > rows (old_names))
-    probstr = sprintf ("index list value(s) exceed(s) number of signals (%d)",
-		       rows (old_names));
-
-  elseif (length (olist) > rows (inames))
-    probstr = sprintf ("index list dimension exceeds number of replacement names (%d)",
-		       rows (inames));
-
-  elseif (isempty (olist))
-    probstr = [];    # do nothing, no changes
-
-  elseif (min (size (olist)) != 1)
-    probstr = "index list must be either a vector or an empty matrix";
-
-  elseif (max (olist) > rows (old_names))
-    probstr = sprintf ("max(%s)=%d > %d, too big", listname,
-		       max (olist), rows (old_names));
-
-  elseif (min (olist) < 1)
-    probstr = sprintf ("min(%s)=%d < 1, too small", listname, min (olist));
-
-  else
-    if (length(olist) == 1)
-        len_in = columns (inames);
-        len_out = columns (old_names);
-
-      if (len_in < len_out)
-        inames(1,(len_in+1):(len_out)) = zeros (1, len_out-len_in);
-      endif
-
-      old_names(olist,1:length(inames)) = inames;
-    elseif (length(olist) > 1)
-      for ii = 1:length(olist)
-        mystr = inames(ii,:);
-        len_my = columns (mystr);
-        len_out = columns (old_names);
-
-        if (len_my < len_out)
-          mystr(1,(len_my+1):len_out) = repmat (" ", 1, len_out-len_my);
-          len_my = len_out;
-        endif
-
-        old_names(olist(ii),1:len_my) = mystr;
-      endfor
-    endif
-  endif
-  if (! isempty (probstr))
-    ## the following lines are NOT debugging code!
-    disp ("Problem in syschnames: old names are")
-    __outlist__ (old_names," ")
-    disp ("new names are")
-    __outlist__(inames,"    ")
-    disp ("list indices are")
-    disp (olist)
-    error (sprintf ("syschnames: \"%s\" dim=(%d x %d)--\n\t%s\n", ...
-		    listname, rows (olist), columns (olist), probstr));
-  endif
-
-  ## change zeros  to blanks
-  if (find (old_names == 0))
-    ## disp("__syschnamesl__: old_names contains zeros ")
-    ## old_names
-    ## disp("/__syschnamesl__");
-
-    [ii, jj] = find (old_names == 0);
-    for idx = 1:length(ii)
-      old_names(ii(idx),jj(idx)) = " ";
-    endfor
-
-    ## disp("__syschnamesl__: old_names fixed zeros ")
-    ## old_names
-    ## disp("/__syschnamesl__");
-  endif
-
-  ## just in case it's not a string anymore
-  if (! ischar (old_names))
-    old_names = char (old_names);
-  endif
-
-  ## disp("__syschnamesl__: exit, old_names=")
-  ## old_names
-  ## disp("/__syschnamesl__: exiting")
-
-endfunction
--- a/scripts/control/system/__sysconcat__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,44 +0,0 @@
-## Copyright (C) 1996, 1998, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-function c = __sysconcat__ (a, b)
-
-  ## c = __sysconcat__ (a, b)
-  ## cell array replacement for append, used by control systems toolbox
-
-  if (ischar (a))
-    a = {a};
-  endif
-  if (ischar (b))
-    b = {b};
-  endif
-
-  if (! (is_signal_list (a) && is_signal_list (b)))
-    error("need cell arrays of strings");
-  endif
-
-  c = a;
-  la = length (a);
-  for ii = 1:length (b)
-    c{la+ii} = b{ii};
-  endfor
-
-endfunction
--- a/scripts/control/system/__syscont_disc__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,57 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{n_tot}, @var{st_c}, @var{st_d}, @var{y_c}, @var{y_d}] =} __syscont_disc__ (@var{sys})
-## Used internally in syscont and sysdisc.
-##
-## @strong{Inputs}
-## @var{sys} is a system data structure.
-##
-## @strong{Outputs}
-## @table @var
-## @item n_tot
-## total number of states
-## @item st_c
-## vector of continuous state indices (empty if none)
-## @item st_d
-## vector of discrete state indices (empty if none)
-## @item y_c
-## vector of continuous output indices
-## @item y_d
-## vector of discrete output indices
-## @end table
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: February 1997
-
-function [n_tot, st_c, st_d, y_c, y_d] = __syscont_disc__ (sys)
-
-  ## get ranges for discrete/continuous states and outputs
-  [nn, nz, mm, pp, yd] = sysdimensions (sys);
-  n_tot = nn + nz;
-  st_c = 1:(nn);
-  st_d = nn + (1:nz);
-  y_c = find (yd == 0);          # y_c, y_d will be empty if there are none.
-  y_d = find (yd == 1);
-
-endfunction
--- a/scripts/control/system/__sysdefioname__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,62 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} __sysdefioname__ (@var{n}, @var{str}, @var{m})
-## return default input or output names given @var{n}, @var{str}, @var{m}.
-## @var{n} is the final value, @var{str} is the string prefix, and @var{m}
-## is start value
-##
-## used internally, minimal argument checking
-##
-## @strong{Example} @code{ioname = __sysdefioname__(5,"u",3)}
-## returns the cell array:
-## @example
-## ioname =
-## (
-##   [1] = u_3
-##   [2] = u_4
-##   [3] = u_5
-## )
-## @end example
-## @end deftypefn
-
-function ioname = __sysdefioname__ (n, str, m)
-
-  if (nargin < 2 || nargin > 3)
-    print_usage ();
-  endif
-
-  if (nargin == 2)
-    m = min (1, n);
-  endif
-
-  ioname = {};
-  jj = 1;
-  if (n > 0 && m > 0 && m <= n)
-    for ii = m:n
-      ioname{ii+1-m} = sprintf ("%s_%d", str, ii);
-    endfor
-  elseif (m > n)
-    error ("str=%s; start value m=%d > final value n=%d", str, m, n);
-  endif
-
-endfunction
--- a/scripts/control/system/__sysdefstname__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,45 +0,0 @@
-## Copyright (C) 1996, 2000, 2003, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} __sysdefstname__ (@var{n}, @var{nz})
-## return default state names given @var{n}, @var{nz}
-##
-## used internally, minimal argument checking
-## @end deftypefn
-
-function stname = __sysdefstname__ (n, nz)
-
-  stname = {};
-  if (n > 0)
-    for ii = 1:n
-      stname{ii} = sprintf ("x_%d", ii);
-    endfor
-  endif
-
-  ## Set default names for discrete states
-  if (nz > 0)
-    for ii = (n+1):(n+nz)
-      stname{ii} = sprintf ("xd_%d", ii);
-    endfor
-  endif
-
-endfunction
--- a/scripts/control/system/__sysgroupn__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,59 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} __sysgroupn__ (@var{names})
-## Locate and mark duplicate names
-## inputs:
-## names: list of signal names
-## kind: kind of signal name (used for diagnostic message purposes only)
-## outputs:
-## returns names with unique suffixes added; diagnostic warning
-## message is printed to inform the user of the new signal name
-##
-## used internally in sysgroup and elsewhere.
-## @end deftypefn
-
-function names = __sysgroupn__ (names, kind)
-
-  ## check for duplicate names
-  l = length (names);
-  ii = 1;
-  while (ii <= l-1)
-    st1 = names{ii};
-    jj = ii+1;
-    while (jj <= l)
-      st2 = names{jj};
-      if (strcmp (st1, st2))
-        warning ("sysgroup: %s name(%d) = %s name(%d) = %s",
-		 kind, ii, kind, jj, st1);
-        strval = sprintf ("%s_%d", st2, jj)
-        names{jj} = strval;
-        warning ("sysgroup:     changed %s name %d to %s", kind, jj, strval);
-        ## restart the check (just to be sure there's no further duplications)
-        ii = 0;
-	jj = l;
-      endif
-      jj++;
-    endwhile
-    ii++;
-  endwhile
-endfunction
--- a/scripts/control/system/__tf2sysl__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,32 +0,0 @@
-## Copyright (C) 1996, 2000, 2003, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} __tf2sysl__ (@var{vec})
-## used internally in tf2sys.
-## strip leading zero coefficients to get the true polynomial length
-## @end deftypefn
-
-function vec = __tf2sysl__ (vec)
-
-  error ("__tf2sysl__ no longer used; use the tf function.");
-
-endfunction
--- a/scripts/control/system/__tfl__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,38 +0,0 @@
-## Copyright (C) 1996, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} __tfl__ (@var{vec})
-## used internally in tf.
-## strip leading zero coefficients to get the true polynomial length
-## @end deftypefn
-
-function vec = __tfl__ (vec)
-
-  while (length (vec) > 1 && vec(1) == 0)
-    vec = vec (2:end);
-  endwhile
-
-  if (vec(1) == 0)
-    warning ("tf: polynomial has no nonzero coefficients!")
-  endif
-
-endfunction
--- a/scripts/control/system/__zp2ssg2__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,74 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2001, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{poly}, @var{rvals}] =} __zp2ssg2__ (@var{rvals})
-## Used internally in @code{zp2ss}
-## Extract 2 values from @var{rvals} (if possible) and construct
-## a polynomial with those roots.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1996
-
-function [poly, rvals] = __zp2ssg2__ (rvals)
-
-  ## locate imaginary roots (if any)
-  cidx = find (imag (rvals));
-
-  if (! isempty (cidx))
-    ## select first complex root, omit from cidx
-    r1i = cidx(1);
-    r1 = rvals(r1i);
-    cidx = complement (r1i, cidx);
-
-    ## locate conjugate root (must be in cidx list, just in case there's
-    ## roundoff)
-    err = abs (rvals(cidx) - r1');
-    minerr = min (err);
-    c2i = find (err == minerr, 1);
-    r2i = cidx(c2i);
-    r2 = rvals(r2i);
-    cidx = complement (r2i, cidx);
-
-    ## don't check for divide by zero, since 0 is not complex.
-    if (abs (r2-r1') / abs (r1) > 1e-12)
-      error ("r1=(%f,%f); r2=(%f,%f), not conjugates.",
-             real (r1), imag (r1), real (r2), imag(r2));
-    endif
-
-    ## complex conjugate pair
-    poly = [1, -2*real(r1), real(r1)^2+imag(r1)^2];
-  else
-    ## select two roots (they're all real)
-    r1 = rvals(1);
-    r2 = rvals(2);
-    poly = [1, -(r1+r2), (r1*r2)];
-    r1i = 1;
-    r2i = 2;
-  endif
-
-  ## remove roots used
-  idx = complement ([r1i, r2i], 1:length(rvals));
-  rvals = rvals(idx);
-
-endfunction
-
--- a/scripts/control/system/abcddim.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,130 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{n}, @var{m}, @var{p}] =} abcddim (@var{a}, @var{b}, @var{c}, @var{d})
-## Check for compatibility of the dimensions of the matrices defining
-## the linear system
-## @iftex
-## @tex
-## $[A, B, C, D]$ corresponding to
-## $$
-## \eqalign{
-##  {dx\over dt} &= A x + B u\cr
-##             y &= C x + D u}
-## $$
-## @end tex
-## @end iftex
-## @ifinfo
-## [A, B, C, D] corresponding to
-##
-## @example
-## dx/dt = a x + b u
-## y = c x + d u
-## @end example
-##
-## @end ifinfo
-## or a similar discrete-time system.
-##
-## If the matrices are compatibly dimensioned, then @code{abcddim} returns
-##
-## @table @var
-## @item n
-## The number of system states.
-##
-## @item m
-## The number of system inputs.
-##
-## @item p
-## The number of system outputs.
-## @end table
-##
-## Otherwise @code{abcddim} returns @var{n} = @var{m} = @var{p} = @minus{}1.
-##
-## Note: n = 0 (pure gain block) is returned without warning.
-## @seealso{is_abcd}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993.
-## a s hodel: modified to accept pure-gain systems aug 1996
-
-function [n, m, p] = abcddim (a, b, c, d)
-
-  if (nargin != 4)
-    print_usage ();
-  endif
-
-  n = m = p = -1;
-
-  [a, an, am] = __abcddims__ (a);
-  [b, bn, bm] = __abcddims__ (b);
-  [c, cn, cm] = __abcddims__ (c);
-  [d, dn, dm] = __abcddims__ (d);
-
-  if (! issquare (a) && ! isempty (a))
-    warning ("abcddim: a is not square (%dx%d)", an, am);
-    return;
-  endif
-
-  if (bm == 0 && dm == 0)
-    warning ("abcddim: no inputs");
-  elseif (bn != am)
-    warning ("abcddim: a(%dx%d) and b(%dx%d) are not compatible",
-	     an, am, bn, bm);
-    return;
-  endif
-
-  if (cn == 0 && dn == 0)
-    warning ("abcddim: no outputs");
-  elseif (cm != an)
-    warning ("abcddim: a(%dx%d) and c(%dx%d) are not compatible",
-	     an, am, cn, cm);
-    return;
-  endif
-
-  have_connections = (bn*cn != 0);
-
-  if (dn == 0 && have_connections)
-    warning ("abcddim: empty d matrix passed; setting compatibly with b, c");
-    [d, dn, dm] = __abcddims__ (zeros (cn, bm));
-  endif
-
-  if (an > 0)
-    [dn, dm] = size (d);
-    if (cn != dn && have_connections)
-      warning ("abcddim: c(%dx%d) and d(%dx%d) are not compatible",
-	       cn, cm, dn, dm);
-      return;
-    endif
-
-    if (bm != dm && have_connections)
-      warning ("abcddim: b(",num2str(bn),"x",num2str(bm), ...
-          " and d(",num2str(dn),"x",num2str(dm),") are not compatible");
-      return;
-    endif
-
-    m = bm;
-    p = cn;
-  else
-    [p, m] = size (d);
-  endif
-  n = an;
-
-endfunction
--- a/scripts/control/system/buildssic.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,333 +0,0 @@
-## Copyright (C) 1998, 2000, 2002, 2004, 2005, 2006, 2007 Kai P. Mueller
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} buildssic (@var{clst}, @var{ulst}, @var{olst}, @var{ilst}, @var{s1}, @var{s2}, @var{s3}, @var{s4}, @var{s5}, @var{s6}, @var{s7}, @var{s8})
-##
-## Form an arbitrary complex (open or closed loop) system in
-## state-space form from several systems. @command{buildssic} can
-## easily (despite its cryptic syntax) integrate transfer functions
-## from a complex block diagram into a single system with one call.
-## This function is especially useful for building open loop
-## interconnections for
-## @iftex
-## @tex
-## $ { \cal H }_\infty $ and $ { \cal H }_2 $
-## @end tex
-## @end iftex
-## @ifinfo
-## H-infinity and H-2
-## @end ifinfo
-## designs or for closing loops with these controllers.
-##
-## Although this function is general purpose, the use of @command{sysgroup}
-## @command{sysmult}, @command{sysconnect} and the like is recommended for
-## standard operations since they can handle mixed discrete and continuous
-## systems and also the names of inputs, outputs, and states.
-##
-## The parameters consist of 4 lists that describe the connections
-## outputs and inputs and up to 8 systems @var{s1}--@var{s8}.
-## Format of the lists:
-## @table @var
-## @item      clst
-## connection list, describes the input signal of
-## each system. The maximum number of rows of Clst is
-## equal to the sum of all inputs of s1-s8.
-##
-## Example:
-## @code{[1 2 -1; 2 1 0]} means that:  new input 1 is old input 1
-## + output 2 - output 1, and new input 2 is old input 2
-## + output 1. The order of rows is arbitrary.
-##
-## @item ulst
-## if not empty the old inputs in vector @var{ulst} will
-## be appended to the outputs. You need this if you
-## want to ``pull out'' the input of a system. Elements
-## are input numbers of @var{s1}--@var{s8}.
-##
-## @item olst
-## output list, specifies the outputs of the resulting
-## systems. Elements are output numbers of @var{s1}--@var{s8}.
-## The numbers are allowed to be negative and may
-## appear in any order. An empty matrix means
-## all outputs.
-##
-## @item ilst
-## input list, specifies the inputs of the resulting
-## systems. Elements are input numbers of @var{s1}--@var{s8}.
-## The numbers are allowed to be negative and may
-## appear in any order. An empty matrix means
-## all inputs.
-## @end table
-##
-## Example:  Very simple closed loop system.
-## @example
-## @group
-## w        e  +-----+   u  +-----+
-##  --->o--*-->|  K  |--*-->|  G  |--*---> y
-##      ^  |   +-----+  |   +-----+  |
-##    - |  |            |            |
-##      |  |            +----------------> u
-##      |  |                         |
-##      |  +-------------------------|---> e
-##      |                            |
-##      +----------------------------+
-## @end group
-## @end example
-##
-## The closed loop system @var{GW} can be obtained by
-## @example
-## GW = buildssic([1 2; 2 -1], 2, [1 2 3], 2, G, K);
-## @end example
-## @table @var
-## @item clst
-## 1st row: connect input 1 (@var{G}) with output 2 (@var{K}).
-##
-## 2nd row: connect input 2 (@var{K}) with negative output 1 (@var{G}).
-## @item ulst
-## Append input of 2 (@var{K}) to the number of outputs.
-## @item olst
-## Outputs are output of 1 (@var{G}), 2 (@var{K}) and
-## appended output 3 (from @var{ulst}).
-## @item ilst
-## The only input is 2 (@var{K}).
-## @end table
-##
-## Here is a real example:
-## @example
-## @group
-##                          +----+
-##     -------------------->| W1 |---> v1
-## z   |                    +----+
-## ----|-------------+
-##     |             |
-##     |    +---+    v      +----+
-##     *--->| G |--->O--*-->| W2 |---> v2
-##     |    +---+       |   +----+
-##     |                |
-##     |                v
-##    u                  y
-## @end group
-## @end example
-## @iftex
-## @tex
-## $$ { \rm min } \Vert GW_{vz} \Vert _\infty $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## min || GW   ||
-##          vz   infty
-## @end example
-## @end ifinfo
-##
-## The closed loop system @var{GW}
-## @iftex
-## @tex
-## from $ [z, u]^T $ to $ [v_1, v_2, y]^T $
-## @end tex
-## @end iftex
-## @ifinfo
-## from [z, u]' to [v1, v2, y]'
-## @end ifinfo
-## can be obtained by (all @acronym{SISO} systems):
-## @example
-## GW = buildssic([1, 4; 2, 4; 3, 1], 3, [2, 3, 5],
-##                [3, 4], G, W1, W2, One);
-## @end example
-## where ``One'' is a unity gain (auxiliary) function with order 0.
-## (e.g. @code{One = ugain(1);})
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: April 1998
-
-function sys = buildssic (Clst, Ulst, Olst, Ilst, s1, s2, s3, s4, s5, s6, s7, s8)
-
-  if (nargin < 5 || nargin > 12)
-    print_usage ();
-  endif
-  if (nargin >= 5)
-    if (! isstruct (s1))
-      error ("---> s1 must be a structed system.");
-    endif
-    s1 = sysupdate (s1, "ss");
-    [n, nz, m, p] = sysdimensions (s1);
-    if (! n && ! nz)
-      error ("---> pure static system must not be the first in list.");
-    endif
-    if (n && nz)
-      error ("---> cannot handle mixed continuous and discrete systems.");
-    endif
-    D_SYS = (nz > 0);
-    [A, B, C, D, tsam] = sys2ss (s1);
-    nt = n + nz;
-  endif
-  for ii = 6:nargin
-    eval (["mysys = s", num2str(ii-4), ";"]);
-    if (! isstruct (mysys))
-      error ("---> Parameter must be a structed system.");
-    endif
-    mysys = sysupdate (mysys, "ss");
-    [n1, nz1, m1, p1] = sysdimensions (mysys);
-    if (n1 && nz1)
-      error ("---> cannot handle mixed continuous and discrete systems.");
-    endif
-    if (D_SYS)
-      if (n1)
-        error ("---> cannot handle mixed cont. and discr. systems.");
-      endif
-      if (tsam != sysgettsam (mysys))
-        error ("---> sampling time of all systems must match.");
-      endif
-    endif
-    [as, bs, cs, ds] = sys2ss (mysys);
-    nt1 = n1 + nz1;
-    if (! nt1)
-      ## pure gain (pad B, C with zeros)
-      B = [B, zeros(nt,m1)];
-      C = [C; zeros(p1,nt)];
-    else
-      A = [A, zeros(nt,nt1); zeros(nt1,nt), as];
-      B = [B, zeros(nt,m1); zeros(nt1,m), bs];
-      C = [C, zeros(p,nt1); zeros(p1,nt), cs];
-    endif
-    D = [D, zeros(p,m1); zeros(p1,m), ds];
-    n = n + n1;
-    nz = nz + nz1;
-    nt = nt + nt1;
-    m = m + m1;
-    p = p + p1;
-  endfor
-
-  ## check maximum dimensions
-  [nx, mx] = size (Clst);
-  if (nx > m)
-    error ("---> more rows in Clst than total number of inputs.");
-  endif
-  if (mx > p+1)
-    error ("---> more cols in Clst than total number of outputs.");
-  endif
-  ## empty vector Ulst is OK
-  lul = length (Ulst);
-  if (lul)
-    if (! isvector (Ulst))
-      error ("---> Input u list Ulst must be a vector.");
-    endif
-    if (lul > m)
-      error ("---> more values in Ulst than number of inputs.");
-    endif
-  endif
-  if (! length (Olst))
-    Olst = 1:(p+lul);
-  endif
-  if (! length (Ilst))
-    Ilst = 1:m;
-  endif
-  if (! isvector(Olst))
-    error ("---> Output list Olst must be a vector.");
-  endif
-  if (! isvector (Ilst))
-    error ("---> Input list Ilst must be a vector.");
-  endif
-
-  ## build the feedback "K" from the interconnection data Clst
-  K = zeros (m, p);
-  inp_used = zeros (m, 1);
-  for ii = 1:nx
-    xx = Clst(ii,:);
-    iu = xx(1);
-    if (iu < 1 || iu > m)
-      error ("---> invalid value in first col of Clst.");
-    endif
-    if (inp_used(iu))
-      error ("---> Input specified more than once.");
-    endif
-    inp_used(iu) = 1;
-    for kk = 2:mx
-      it = xx(kk);
-      if (abs (it) > p)
-        error ("---> invalid row value in Clst.");
-      elseif (it)
-        K(iu,abs(it)) = sign (it);
-      endif
-    endfor
-  endfor
-
-  ## form the "closed loop", i.e replace u in
-  ## .
-  ## x = Ax + Bu
-  ##                            ~
-  ## y = Cx + Du   by   u = K*y+u
-  ##
-  ##            -1
-  ## R = (I-D*K)   must exist.
-
-  R = eye (p) - D*K;
-  if (rank (R) < p)
-    error ("---> singularity in algebraic loop.");
-  else
-    R = inv (R);
-  endif
-  A = A + B*K*R*C;
-  B = B + B*K*R*D;
-  C = R*C;
-  D = R*D;
-
-  ## append old inputs u to the outputs (if lul > 0)
-  kc = K*C;
-  kdi = eye (m) + K*D;
-  for ii = 1:lul
-    it = Ulst(ii);
-    if (it < 1 || it > m)
-      error ("---> invalid value in Ulst.");
-    endif
-    C = [C; kc(it,:)];
-    D = [D; kdi(it,:)];
-  endfor
-
-  ## select and rearrange outputs
-  nn = length (A);
-  lol = length (Olst);
-  Cnew = zeros (lol, nn);
-  Dnew = zeros (lol, m);
-  for ii = 1:lol
-    iu = Olst(ii);
-    if (! iu || abs(iu) > p+lul)
-      error ("---> invalid value in Olst.");
-    endif
-    Cnew(ii,:) = sign(iu)*C(abs(iu),:);
-    Dnew(ii,:) = sign(iu)*D(abs(iu),:);
-  endfor
-  C = Cnew;
-  D = Dnew;
-  lil = length (Ilst);
-  Bnew = zeros (nn, lil);
-  Dnew = zeros (lol, lil);
-  for ii = 1:lil
-    iu = Ilst(ii);
-    if (! iu || abs(iu) > m)
-      error ("---> invalid value in Ilst.");
-    endif
-    Bnew(:,ii) = sign (iu) * B(:,abs(iu));
-    Dnew(:,ii) = sign (iu) * D(:,abs(iu));
-  endfor
-
-  sys = ss (A, Bnew, C, Dnew, tsam, n, nz);
-
-endfunction
--- a/scripts/control/system/c2d.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,227 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2001, 2002, 2004, 2005, 2006,
-##               2007 John W. Eaton
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} c2d (@var{sys}, @var{opt}, @var{t})
-## @deftypefnx {Function File} {} c2d (@var{sys}, @var{t})
-##
-## Converts the system data structure describing:
-## @iftex
-## @tex
-## $$ \dot x = A_cx + B_cu $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## .
-## x = Ac x + Bc u
-## @end example
-## @end ifinfo
-## into a discrete time equivalent model:
-## @iftex
-## @tex
-## $$ x_{n+1} = A_dx_n + B_du_n $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-## x[n+1] = Ad x[n] + Bd u[n]
-## @end example
-## @end ifinfo
-## via the matrix exponential or bilinear transform.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## system data structure (may have both continuous time and discrete
-## time subsystems)
-## @item opt
-## string argument; conversion option (optional argument;
-## may be omitted as shown above)
-## @table @code
-## @item "ex"
-## use the matrix exponential (default)
-## @item "bi"
-## use the bilinear transformation
-## @iftex
-## @tex
-## $$ s = { 2(z-1) \over T(z+1) } $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##     2(z-1)
-## s = -----
-##     T(z+1)
-## @end example
-## @end ifinfo
-## FIXME: This option exits with an error if @var{sys} is not purely
-## continuous. (The @code{ex} option can handle mixed systems.)
-## @item "matched"
-## Use the matched pole/zero equivalent transformation (currently only
-## works for purely continuous @acronym{SISO} systems).
-## @end table
-## @item t
-## sampling time; required if @var{sys} is purely continuous.
-##
-## @strong{Note} that if the second argument is not a string, @code{c2d()}
-## assumes that the second argument is @var{t} and performs
-## appropriate argument checks.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item dsys
-## Discrete time equivalent via zero-order hold, sample each @var{t} sec.
-## @end table
-##
-## This function adds the suffix  @code{_d}
-## to the names of the new discrete states.
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: October 1993
-## Updated by John Ingram for system data structure August 1996
-
-function dsys = c2d (sys, opt, T)
-
-  ## parse input arguments
-  if (nargin < 1 || nargin > 3)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be a system data structure");
-  elseif (nargin == 1)
-    opt = "ex";
-  elseif (nargin == 2 && ! ischar (opt))
-    T = opt;
-    opt = "ex";
-  endif
-
-  if (! ischar (opt))
-    error ("expecting option as a string");
-  endif
-
-  ## check if sampling period T was passed.
-  Ts = sysgettsam (sys);
-  if (! exist ("T"))
-    T = Ts;
-    if (T == 0)
-      error ("sys is purely continuous; no sampling period T provided");
-    endif
-  elseif (T != Ts && Ts > 0)
-    warning ("c2d: T=%g, system tsam=%g: using T=", T, Ts, min (T, Ts));
-    T = min (T, Ts);
-  endif
-
-  if (! is_sample (T))
-    error ("sampling period T must be a positive, real scalar");
-  elseif (! (strcmp (opt, "ex")
-	     || strcmp (opt, "bi")
-	     || strcmp (opt, "matched")))
-    error ("invalid option passed: %s", opt);
-  endif
-
-  sys = sysupdate (sys, "ss");
-  [n, nz, m, p] = sysdimensions (sys);
-  if (n == 0)
-    dsys = syssetsignals (sys, "yd", ones(1:p));
-  elseif (strcmp (opt, "ex"));
-    [aa, bb, cc, dd] = sys2ss (sys);
-    crng= 1:n;
-    drng = n+(1:nz);
-
-    ## partition state equations into continuous, imaginary subsystems
-    Ac = aa(crng,crng);
-    Bc = bb(crng,:);
-    if (nz == 0)
-      Acd = Adc = Add = Bd = 0;
-    else
-      Acd = aa(crng,drng);
-      Adc = aa(drng,crng);
-      Add = aa(drng,drng);
-      Bd  = bb(drng,:);
-      Bc  = [Bc, Acd];   ## append discrete states as inputs to cont system
-    endif
-
-    ## convert state equations
-    mat = [Ac, Bc; zeros(m+nz,n+nz+m)];
-    matexp = expm (mat * T);
-
-    ## replace Ac
-    aa(crng,crng) = matexp(crng,crng);    ## discretized homegenous diff eqn
-
-    ## replace Bc
-    bb(crng,:) = matexp(crng,n+(1:m));
-
-    ## replace Acd
-    if (nz)
-      aa(crng,drng) = matexp(crng,n+m+(1:nz));
-    endif
-
-    stnames = sysgetsignals (sys, "st");   ## continuous states renamed below
-    innames = sysgetsignals (sys, "in");
-    outnames = sysgetsignals (sys, "out");
-    outlist = 1:p;
-    dsys = ss (aa, bb, cc, dd, T, 0, n+nz, stnames, innames,
-	       outnames, outlist);
-    ## rename states
-    for ii = 1:n
-      strval = sprintf ("%s_d", sysgetsignals (dsys, "st", ii, 1));
-      dsys = syssetsignals (dsys, "st", strval, ii);
-    endfor
-
-  elseif (strcmp (opt, "bi"))
-    if (is_digital (sys))
-      error ("c2d: system is already digital")
-    else
-      ## convert with bilinear transform
-      [a, b, c, d, tsam, n, nz, stname, inname, outname, yd] = sys2ss (sys);
-      IT = (2/T) * eye (size (a));
-      A = (IT+a)/(IT-a);
-      iab = (IT-a)\b;
-      tk = 2 / sqrt (T);
-      B = tk*iab;
-      C = tk*(c/(IT-a));
-      D = d + (c*iab);
-      stnamed = strappend (stname, "_d");
-      dsys = ss (A, B, C, D, T, 0, rows (A), stnamed, inname, outname);
-     endif
-   elseif (strcmp (opt, "matched"))
-     if (is_digital (sys))
-       error ("c2d: system is already digital");
-     elseif (length (sys.inname) != 1 || length (sys.outname) != 1)
-       error ("c2d: system in not single input, single output");
-     else
-       sys = sysupdate (sys, "zp");
-       p = exp (sys.pol*T);
-       z = exp (sys.zer*T);
-       infinite_zeros = max (size (sys.pol)) - max (size (sys.zer)) - 1;
-       for i = 1:infinite_zeros
-	 z = [z ; -1];
-       endfor
-       ## Should the freaquency we adjust around always be 1?
-       [cmag, cphase, cw] = bode (sys, 1);
-       [dmag, dpahse, dw] = bode (zp (z, p, 1, T), 1);
-       dsys = zp (z, p, cmag/dmag, T);
-     endif
-  else
-    error ("invalid option = %s", opt);
-  endif
-
-endfunction
--- a/scripts/control/system/cellidx.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,100 +0,0 @@
-## Copyright (C) 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{idxvec}, @var{errmsg}] =} cellidx (@var{listvar}, @var{strlist})
-## Return indices of string entries in @var{listvar} that match strings
-## in @var{strlist}.
-##
-## Both @var{listvar} and @var{strlist} may be passed as strings or
-## string matrices.  If they are passed as string matrices, each entry
-## is processed by @code{deblank} prior to searching for the entries.
-##
-## The first output is the vector of indices in @var{listvar}.
-##
-## If @var{strlist} contains a string not in @var{listvar}, then
-## an error message is returned in @var{errmsg}.  If only one output
-## argument is requested, then @var{cellidx} prints @var{errmsg} to the
-## screen and exits with an error.
-## @end deftypefn
-
-function [idxvec,errmsg]  = cellidx (listvar, strlist)
-
-  if (nargin != 2)
-    print_usage ();
-  endif
-
-  if (ischar (strlist))
-    tmp = strlist;
-    strlist = {};
-    for kk = 1:rows(tmp)
-      strlist{kk} = deblank (tmp(kk,:));
-    endfor
-  endif
-
-  if (ischar (listvar))
-    tmp = listvar;
-    listvar = {};
-    for kk = 1:rows(tmp)
-      listvar{kk} = deblank (tmp(kk,:));
-    endfor
-  endif
-
-  ## initialize size of idxvec (for premature return)
-  idxvec = zeros (length(strlist), 1);
-
-  errmsg = "";
-  if (! is_signal_list (listvar))
-    errmsg = "listvar must be a list of strings";
-  elseif (! is_signal_list (strlist))
-    errmsg = "strlist must be a list of strings";
-  endif
-
-  if (length (errmsg))
-    if (nargout < 2)
-      error (errmsg);
-    else
-      return;
-    endif
-  endif
-
-  nsigs = length(listvar);
-  for idx = 1:length(strlist)
-    signame = strlist{idx};
-    for jdx = 1:nsigs
-      if (strcmp (signame, listvar{jdx}) )
-	if (idxvec(idx) != 0)
-	  warning ("Duplicate signal name %s (%d,%d)\n",
-		   listvar{jdx}, jdx, idxvec(idx));
-	else
-	  idxvec(idx) = jdx;
-	endif
-      endif
-    endfor
-    if (idxvec(idx) == 0)
-      errmsg = sprintf ("Did not find %s", signame);
-      if (nargout == 1)
-	error (errmsg);
-      else
-	break;
-      endif
-    endif
-  endfor
-
-endfunction
--- a/scripts/control/system/d2c.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,233 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} d2c (@var{sys}, @var{tol})
-## @deftypefnx {Function File} {} d2c (@var{sys}, @var{opt})
-## Convert a discrete (sub)system into a purely continuous one.
-## The sampling time used is @code{sysgettsam(@var{sys})}.
-##
-## @strong{Inputs}
-## @table @var
-## @item   sys
-## system data structure with discrete components
-## @item   tol
-## Scalar value.
-## Tolerance for convergence of default @code{"log"} option (see below)
-## @item   opt
-## conversion option.  Choose from:
-## @table @code
-## @item         "log"
-## (default) Conversion is performed via a matrix logarithm.
-## Due to some problems with this computation, it is
-## followed by a steepest descent algorithm to identify continuous time
-## @var{a}, @var{b}, to get a better fit to the original data.
-##
-## If called as @code{d2c (@var{sys}, @var{tol})}, with @var{tol}
-## positive scalar, the @code{"log"} option is used.  The default value
-## for @var{tol} is @code{1e-8}.
-## @item        "bi"
-## Conversion is performed via bilinear transform
-## @math{z = (1 + s T / 2)/(1 - s T / 2)} where @math{T} is the
-## system sampling time (see @code{sysgettsam}).
-##
-## FIXME: bilinear option exits with an error if @var{sys} is not purely
-## discrete
-## @end table
-## @end table
-## @strong{Output}
-## @table @var
-## @item csys
-## continuous time system (same dimensions and signal names as in @var{sys}).
-## @end table
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: August 23, 1994
-## Updated by John Ingram for system data structure  August 1996
-
-function csys = d2c (sys, opt)
-
-  ## SYS_INTERNAL accesses members of system data structure
-
-  if (nargin != 1 && nargin != 2)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be in system data structure");
-  elseif (nargin == 1)
-    opt = "log";
-    tol = 1e-12;
-  elseif (ischar (opt))   # all remaining cases are for nargin == 2
-    tol = 1e-12;
-    if (! (strcmp (opt, "log") || strcmp (opt, "bi")))
-      error ("d2c: invalid opt passed=%s", opt);
-    endif
-  elseif (! is_sample (opt))
-    error ("tol must be a positive scalar")
-  elseif (opt > 1e-2)
-    warning ("d2c: ridiculous error tolerance passed=%g, intended c2d call?",
-	     opt);
-  else
-    tol = opt;
-    opt = "log";
-  endif
-  T = sysgettsam (sys);
-
-  if (isa (sys.a, "single") || isa (sys.b, "single") || isa (sys.c, "single") ||
-      isa (sys.d, "single"))
-    myeps = eps ("single");
-  else
-    myeps = eps;
-  endif
-
-  if (strcmp (opt, "bi"))
-    ## bilinear transform
-    ## convert with bilinear transform
-    if (! is_digital (sys) )
-       error ("d2c requires a discrete time system for input")
-    endif
-    [a, b, c, d, tsam, n, nz, stname, inname, outname, yd] = sys2ss (sys);
-
-    poles = eig (a);
-    if (find (abs (poles-1) < 200*(n+nz)*myeps))
-      warning ("d2c: some poles very close to one.  May get bad results.");
-    endif
-
-    I = eye (size (a));
-    tk = 2 / sqrt (T);
-    A = (2/T)*(a-I)/(a+I);
-    iab = (I+a)\b;
-    B = tk*iab;
-    C = tk*(c/(I+a));
-    D = d- (c*iab);
-    stnamec = strappend (stname, "_c");
-    csys = ss (A, B, C, D, 0, rows (A), 0, stnamec, inname, outname);
-  elseif (strcmp (opt, "log"))
-    sys = sysupdate (sys, "ss");
-    [n, nz, m, p] = sysdimensions (sys);
-
-    if (nz == 0)
-      warning ("d2c: all states continuous; setting outputs to agree");
-      csys = syssetsignals (sys, "yd", zeros (1, 1:p));
-      return;
-    elseif (n != 0)
-      warning ("d2c: n=%d > 0; performing c2d first", n);
-      sys = c2d (sys, T);
-    endif
-    [a, b] = sys2ss (sys);
-
-    [ma, na] = size (a);
-    [mb, nb] = size (b);
-
-    if (isempty (b))
-      warning ("d2c: empty b matrix");
-      Amat = a;
-    else
-      Amat = [a, b; zeros(nb,na), eye(nb)];
-    endif
-
-    poles = eig (a);
-    if (find (abs (poles) < 200*(n+nz)*myeps))
-      warning ("d2c: some poles very close to zero.  logm not performed");
-      Mtop = zeros (ma, na+nb);
-    elseif (find (abs (poles-1) < 200*(n+nz)*myeps))
-      warning ("d2c: some poles very close to one.  May get bad results.");
-      logmat = real (logm (Amat) / T);
-      Mtop = logmat(1:na,:);
-    else
-      logmat = real (logm (Amat) / T);
-      Mtop = logmat(1:na,:);
-    endif
-
-    ## perform simplistic, stupid optimization approach.
-    ## should re-write with a Davidson-Fletcher CG approach
-    mxthresh = norm (Mtop);
-    if (mxthresh == 0)
-      mxthresh = 1;
-    endif
-    eps1 = mxthresh;    #gradient descent step size
-    cnt = max (20, (n*nz)*4);     #max number of iterations
-    newgrad=1;  #signal for new gradient
-    while ((eps1/mxthresh > tol) && cnt)
-      cnt--;
-      ## calculate the gradient of error with respect to Amat...
-      geps = norm (Mtop) * 1e-8;
-      if (geps == 0)
-        geps = 1e-8;
-      endif
-      DMtop = Mtop;
-      if (isempty (b))
-        Mall = Mtop;
-        DMall = DMtop;
-      else
-        Mall = [Mtop; zeros(nb,na+nb)];
-        DMall = [DMtop; zeros(nb,na+nb) ];
-      endif
-
-      if (newgrad)
-        GrMall = zeros (size (Mall));
-        for ii = 1:rows(Mtop)
-          for jj = 1:columns(Mtop)
-          DMall(ii,jj) = Mall(ii,jj) + geps;
-            GrMall(ii,jj) = norm (Amat - expm (DMall*T), "fro") ...
-                - norm (Amat - expm (Mall*T), "fro");
-          DMall(ii,jj) = Mall(ii,jj);
-          endfor
-        endfor
-        GrMall = GrMall/norm(GrMall,1);
-        newgrad = 0;
-      endif
-
-      ## got a gradient, now try to use it
-      DMall = Mall-eps1*GrMall;
-
-      FMall = expm (Mall*T);
-      FDMall = expm (DMall*T);
-      FmallErr = norm (Amat - FMall);
-      FdmallErr = norm (Amat - FDMall);
-      if (FdmallErr < FmallErr)
-        Mtop = DMall(1:na,:);
-        eps1 = min (eps1*2, 1e12);
-        newgrad = 1;
-      else
-        eps1 = eps1/2;
-      endif
-
-      if (FmallErr == 0)
-        eps1 = 0;
-      endif
-
-    endwhile
-
-    [aa, bb, cc, dd, tsam, nn, nz, stnam, innam, outnam, yd] = sys2ss (sys);
-    aa = Mall(1:na,1:na);
-    if (! isempty (b))
-      bb = Mall(1:na,(na+1):(na+nb));
-    endif
-    csys = ss (aa, bb, cc, dd, 0, na, 0, stnam, innam, outnam);
-
-    ## update names
-    nn = sysdimensions (sys);
-    for ii = (nn+1):na
-      strval = sprintf ("%s_c", sysgetsignals (csys, "st", ii, 1));
-      csys = syssetsignals (csys, "st", strval, ii);
-    endfor
-  endif
-
-endfunction
--- a/scripts/control/system/dmr2d.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,256 +0,0 @@
-## Copyright (C) 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{dsys}, @var{fidx}] =} dmr2d (@var{sys}, @var{idx}, @var{sprefix}, @var{ts2}, @var{cuflg})
-## convert a multirate digital system to a single rate digital system
-## states specified by @var{idx}, @var{sprefix} are sampled at @var{ts2}, all
-## others are assumed sampled at @var{ts1} = @code{sysgettsam (@var{sys})}.
-##
-## @strong{Inputs}
-## @table @var
-## @item   sys
-## discrete time system;
-## @code{dmr2d} exits with an error if @var{sys} is not discrete
-## @item   idx
-## indices or names of states with sampling time
-## @code{sysgettsam(@var{sys})} (may be empty); see @code{cellidx}
-## @item   sprefix
-## list of string prefixes of states with sampling time
-## @code{sysgettsam(@var{sys})} (may be empty)
-## @item   ts2
-## sampling time of states not specified by @var{idx}, @var{sprefix}
-## must be an integer multiple of @code{sysgettsam(@var{sys})}
-## @item   cuflg
-## "constant u flag" if @var{cuflg} is nonzero then the system inputs are
-## assumed to be constant over the revised sampling interval @var{ts2}.
-## Otherwise, since the inputs can change during the interval
-## @var{t} in @math{[k ts2, (k+1) ts2]}, an additional set of inputs is
-## included in the revised B matrix so that these intersample inputs
-## may be included in the single-rate system.
-## default @var{cuflg} = 1.
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item   dsys
-## equivalent discrete time system with sampling time @var{ts2}.
-##
-## The sampling time of sys is updated to @var{ts2}.
-##
-## if @var{cuflg}=0 then a set of additional inputs is added to
-## the system with suffixes _d1, @dots{}, _dn to indicate their
-## delay from the starting time k @var{ts2}, i.e.
-## u = [u_1; u_1_d1; @dots{}, u_1_dn] where u_1_dk is the input
-## k*ts1 units of time after u_1 is sampled. (@var{ts1} is
-## the original sampling time of the discrete time system and
-## @var{ts2} = (n+1)*ts1)
-##
-## @item   fidx
-## indices of "formerly fast" states specified by @var{idx} and @var{sprefix};
-## these states are updated to the new (slower) sampling interval @var{ts2}.
-## @end table
-##
-## @strong{WARNING} Not thoroughly tested yet; especially when
-## @var{cuflg} == 0.
-## @end deftypefn
-
-## Adapted from c2d by a.s.hodel@eng.auburn.edu
-
-function [dsys, fidx] = dmr2d (sys, idx, sprefix, Ts2, cuflg)
-
-  ## parse input arguments
-  if (nargin != 4)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be in system data structure form");
-  elseif (! is_digital (sys))
-    error ("sys must be discrete-time; continuous time passed");
-  endif
-
-  if (is_signal_list (idx) || ischar (idx))
-    idx = sysidx (sys, "st", idx);
-  elseif (! (isvector (idx) || isempty (idx)))
-    error ("idx(%dx%d) must be a vector", rows (idx), columns (idx));
-  elseif (any (idx <= 0))
-    idv = find (idx <= 0);
-    ii = idv(1);
-    error ("idx(%d)=%g; entries of idx must be positive", ii, idx(ii));
-  elseif (! (is_signal_list (sprefix) || isempty (sprefix)))
-    error ("sprefix must be a signal list (see is_signal_list) or empty");
-  elseif (! is_sample (Ts2))
-    error ("Ts2=%g; invalid sampling time", Ts2);
-  endif
-
-  ## optional argument: cuflg
-  if (nargin <= 4)
-    cuflg = 1;          # default: constant inputs over Ts2 sampling interv.
-  elseif (! isscalar (cuflg))
-    error ("cuflg must be a scalar")
-  elseif (cuflg != 0 || cuflg != 1)
-    error ("cuflg = %g, should be 0 or 1", cuflg);
-  endif
-
-  ## extract  state space information
-  [da, db, dc, dd, Ts1, nc, nz, stname, inname, outname, yd] = sys2ss (sys);
-
-  ## compute number of steps
-  if (Ts1 > Ts2)
-    error ("Current sampling time=%g > Ts2=%g", Ts1, Ts2);
-  endif
-  nstp = floor (Ts2/Ts1+0.5);
-  if (abs ((Ts2 - Ts1*nstp)/Ts1) > 1e-12)
-    warning ("dmr2d: Ts1=%g, Ts2=%g, selecting nsteps=%d; mismatch",
-	     Ts1, Ts2, nstp);
-  endif
-
-  if (isempty (sprefix) && isempty (idx))
-    warning ("both sprefix and idx are empty; returning dsys=sys");
-    fidx = [];
-    dsys = sys;
-    return
-  elseif (isempty (sprefix))
-    fidx = idx;
-  else
-    fidx = reshape (idx, 1, length(idx));
-    ## find states whose name begins with any strings in sprefix.
-    ns = length (sprefix);
-    for kk = 1:ns
-      spk = sprefix{kk};  # get next prefix and length
-      spl = length (spk);
-
-      ## check each state name
-      for ii = 1:nz
-        sti = stname{ii};  # compare spk with this state name
-        if (length (sti) >= spl)
-          ## if the prefix matches and ii isn't already in the list, add ii
-          if (strcmp (sti(1:spl), spk) && ! any (fidx == ii))
-            fidx = sort ([fidx, ii]);
-          endif
-        endif
-      endfor
-    endfor
-  endif
-
-  if (nstp == 0)
-    warning ("dmr2d: nstp = 0; setting tsam and returning");
-    dsys = syschtsam (sys, Ts2);
-    return;
-  elseif (nstp < 0)
-    error ("nstp = %d < 0; this shouldn't be!", nstp);
-  endif
-
-  ## permute system matrices
-  pv = sysreorder (nz, fidx);
-  pv = pv(nz:-1:1);          # reverse order to put fast modes in leading block
-
-  ## construct inverse permutation
-  Inz = eye (nz);
-  pvi = (Inz(pv,:)'*[1:nz]')';
-
-  ## permute A, B (stname permuted for debugging only)
-  da = da(pv,pv);
-  db = db(pv,:);
-  stname = stname (pv);
-
-  ## partition A, B:
-  lfidx = length (fidx);
-  bki = 1:lfidx;
-  a11 = da(bki,bki);
-  b1 = db(bki,:);
-
-  if (lfidx < nz)
-    lfidx1 = lfidx+1;
-    bki2 = (lfidx1):nz;
-    a12 = da(bki,bki2);
-    b2 = db(bki2,:);
-  else
-    warning ("dmr2d: converting entire A,B matrices to new sampling rate");
-    lfidx1 = -1;
-    bki2 = [];
-  endif
-
-  ## begin system conversion: nstp steps
-
-  ## compute abar_{n-1}*a12 and appropriate b matrix stuff
-  a12b = a12;      # running  total of abar_{n-1}*a12
-  a12w = a12;      # current a11^n*a12  (start with n = 0)
-  if (cuflg)
-    b1b = b1;
-    b1w = b1;
-  else
-    ## cuflg == 0, need to keep track of intersample inputs too
-    ## FIXME: check tolerance relative to ||b1||
-    nzdx = find (max (abs (b1)) != 0);
-    b1w = b1(nzdx);
-    innamenz = inname(nzdx);
-    b1b = b1;                        # initial b1 must match columns in b2
-  endif
-
-  ## compute a11h = a11^nstp by squaring
-  a11h = eye (size (a11));
-  p2 = 1;
-  a11p2 = a11;        #a11^p2
-
-  nstpw = nstp;       # workspace for computing a11^nstp
-  while (nstpw > 0.5)
-    oddv = rem (nstpw, 2);
-    if (oddv)
-      a11h = a11h*a11p2;
-    endif
-    nstpw = (nstpw-oddv)/2;
-    if (nstpw > 0.5)
-      a11p2 = a11p2*a11p2;    # a11^(next power of 2)
-    endif
-  endwhile
-
-  ## FIXME: this part should probably also use squaring, but
-  ## that would require exponentially growing memory.  What do do?
-  for kk = 2:nstp
-    ## update a12 block to sum(a12 + ... + a11^(kk-1)*a12)
-    a12w = a11*a12w;
-    a12b = a12b + a12w;
-
-    ## similar for b1 block (checking for cuflg first!)
-    b1w = a11*b1w;
-    if (cuflg)
-      b1b = b1b + b1w;        # update b1 block just like we did a12
-    else
-      b1b = [b1b, b1w];       # append new inputs
-      newin = sprintf ("%s_d%d", innamenz, kk-1);
-      inname = __sysconcat__ (inname, newin);
-    endif
-  endfor
-
-  ## reconstruct system and return
-  da(bki,bki) = a11h;
-  db(bki,1:columns(b1b)) = b1b;
-  if (! isempty (bki2))
-    da(bki,bki2) = a12b;
-  endif
-
-  da = da(pvi,pvi);
-  db = db(pvi,:);
-  stname = stname(pvi);
-
-  ## construct new system and return
-  dsys = ss (da, db, dc, dd, Ts2, 0, nz, stname, inname, outname,
-	     find (yd == 1));
-
-endfunction
--- a/scripts/control/system/fir2sys.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,114 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} fir2sys (@var{num}, @var{tsam}, @var{inname}, @var{outname})
-## construct a system data structure from @acronym{FIR} description
-##
-## @strong{Inputs}
-## @table @var
-## @item num
-## vector of coefficients
-## @ifinfo
-## [c0, c1, @dots{}, cn]
-## @end ifinfo
-## @iftex
-## @tex
-## $ [c_0, c_1, \ldots, c_n ]$
-## @end tex
-## @end iftex
-## of the @acronym{SISO} @acronym{FIR} transfer function
-## @ifinfo
-## C(z) = c0 + c1*z^(-1) + c2*z^(-2) + @dots{} + cn*z^(-n)
-## @end ifinfo
-## @iftex
-## @tex
-## $$ C(z) = c_0 + c_1z^{-1} + c_2z^{-2} + \ldots + c_nz^{-n} $$
-## @end tex
-## @end iftex
-##
-## @item tsam
-## sampling time (default: 1)
-##
-## @item inname
-## name of input signal;  may be a string or a list with a single entry.
-##
-## @item outname
-## name of output signal; may be a string or a list with a single entry.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item sys
-## system data structure
-## @end table
-##
-## @strong{Example}
-## @example
-## octave:1> sys = fir2sys([1 -1 2 4],0.342,\
-## > "A/D input","filter output");
-## octave:2> sysout(sys)
-## Input(s)
-##         1: A/D input
-##
-## Output(s):
-##         1: filter output (discrete)
-##
-## Sampling interval: 0.342
-## transfer function form:
-## 1*z^3 - 1*z^2 + 2*z^1 + 4
-## -------------------------
-## 1*z^3 + 0*z^2 + 0*z^1 + 0
-## @end example
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: July 29, 1994
-## Name changed to TF2SYS July 1995
-## updated for new system data structure format July 1996
-## adapted from tf2sys july 1996
-
-function sys = fir2sys (num, tsam, inname, outname)
-
-  ## Test for the correct number of input arguments
-  if (nargin < 1 || nargin > 4)
-    print_usage ();
-  endif
-
-  ## let tf do the argument checking
-  den = [1, zeros(1,length(num)-1)];
-
-  ## check sampling interval (if any)
-  if (nargin < 2 || isempty (tsam))
-    tsam = 1;           # default
-  endif
-
-  ## Set name of input
-  if (nargin < 3)
-    inname = __sysdefioname__ (1, "u");
-  endif
-
-  ## Set name of output
-  if (nargin < 4)
-    outname = __sysdefioname__ (1, "y");
-  endif
-
-  sys = tf (num, den, tsam, inname, outname);
-
-endfunction
--- a/scripts/control/system/is_abcd.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,104 +0,0 @@
-## Copyright (C) 1997, 2000, 2004, 2005, 2006, 2007 Kai P. Mueller
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{retval} =} is_abcd (@var{a}, @var{b}, @var{c}, @var{d})
-##  Returns @var{retval} = 1 if the dimensions of @var{a}, @var{b},
-##  @var{c}, @var{d} are compatible, otherwise @var{retval} = 0 with an
-##  appropriate diagnostic message printed to the screen.  The matrices
-##  @var{b}, @var{c}, or @var{d} may be omitted.
-## @seealso{abcddim}
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: November 4, 1997
-## based on is_controllable.m of Scottedward Hodel
-
-function retval = is_abcd (a, b, c, d)
-
-  retval = 0;
-
-  switch (nargin)
-    case 1
-      ## A only
-      [na, ma] = size (a);
-      if (na != ma)
-        disp ("Matrix A ist not square.")
-      endif
-    case 2
-      ## A, B only
-      [na, ma] = size (a);
-      [nb, mb] = size(b);
-      if (na != ma)
-        disp ("Matrix A ist not square.")
-        return;
-      endif
-      if (na != nb)
-        disp ("A and B column dimension different.")
-        return;
-      endif
-    case 3
-      ## A, B, C only
-      [na, ma] = size(a);
-      [nb, mb] = size(b);
-      [nc, mc] = size(c);
-      if (na != ma)
-        disp ("Matrix A ist not square.")
-        return;
-      endif
-      if (na != nb)
-        disp ("A and B column dimensions not compatible.")
-        return;
-      endif
-      if (ma != mc)
-        disp ("A and C row dimensions not compatible.")
-        return;
-      endif
-    case 4
-      ## all matrices A, B, C, D
-      [na, ma] = size(a);
-      [nb, mb] = size(b);
-      [nc, mc] = size(c);
-      [nd, md] = size(d);
-      if (na != ma)
-        disp ("Matrix A ist not square.")
-        return;
-      endif
-      if (na != nb)
-        disp ("A and B column dimensions not compatible.")
-        return;
-      endif
-      if (ma != mc)
-        disp ("A and C row dimensions not compatible.")
-        return;
-      endif
-      if (mb != md)
-        disp ("B and D row dimensions not compatible.")
-        return;
-      endif
-      if (nc != nd)
-        disp ("C and D column dimensions not compatible.")
-        return;
-      endif
-    otherwise
-      print_usage ();
-  endswitch
-  ## all tests passed, signal ok.
-  retval = 1;
-
-endfunction
--- a/scripts/control/system/is_controllable.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,122 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{retval}, @var{u}] =} is_controllable (@var{sys}, @var{tol})
-## @deftypefnx {Function File} {[@var{retval}, @var{u}] =} is_controllable (@var{a}, @var{b}, @var{tol})
-## Logical check for system controllability.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## system data structure
-## @item a
-## @itemx b
-## @var{n} by @var{n}, @var{n} by @var{m} matrices, respectively
-## @item tol
-## optional roundoff parameter.  Default value: @code{10*eps}
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item retval
-## Logical flag; returns true (1) if the system @var{sys} or the
-## pair (@var{a}, @var{b}) is controllable, whichever was passed as input
-## arguments.
-## @item u
-## @var{u} is an orthogonal basis of the controllable subspace.
-## @end table
-##
-## @strong{Method}
-## Controllability is determined by applying Arnoldi iteration with
-## complete re-orthogonalization to obtain an orthogonal basis of the
-## Krylov subspace
-## @example
-## span ([b,a*b,...,a^@{n-1@}*b]).
-## @end example
-## The Arnoldi iteration is executed with @code{krylov} if the system
-## has a single input; otherwise a block Arnoldi iteration is performed
-## with @code{krylovb}.
-## @seealso{size, rows, columns, length, ismatrix, isscalar, isvector
-## is_observable, is_stabilizable, is_detectable, krylov, krylovb}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-## Updated by A. S. Hodel (scotte@eng.auburn.edu) Aubust, 1995 to use krylovb
-## Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 for packed systems
-
-function [retval, U] = is_controllable (a, b, tol)
-
-  deftol = 1;    # assume default tolerance
-
-  if (nargin < 1 || nargin > 3)
-    print_usage ();
-  elseif (isstruct (a))
-    ## system structure passed.
-    sys = sysupdate (a, "ss");
-    [a, bs] = sys2ss (sys);
-    if (nargin > 2)
-      print_usage ();
-    elseif (nargin == 2)
-      tol = b;          % get tolerance
-      deftol = 0;
-    endif
-    b = bs;
-  else
-    ## a,b arguments sent directly.
-    if (nargin < 2)
-      print_usage ();
-    else
-      deftol = 1;
-    endif
-  endif
-
-  ## check for default tolerance
-  if (deftol)
-    if (isa (a, "single") || isa (b, "single"))
-      tol = 1000 * eps("single");
-    else
-      tol = 1000*eps;
-    endif
-  endif
-
-  ## check tol dimensions
-  if (! isscalar (tol))
-    error ("is_controllable: tol(%dx%d) must be a scalar", ...
-           rows (tol), columns (tol));
-  elseif (! is_sample (tol))
-    error ("is_controllable: tol=%e must be positive",tol);
-  endif
-
-  ## check dimensions compatibility
-  n = issquare (a);
-  [nr, nc] = size (b);
-
-  if (n == 0 || n != nr || nc == 0)
-    warning ("is_controllable: a=(%dx%d), b(%dx%d)",rows(a),columns(a),nr,nc);
-    retval = 0;
-  else
-    ## call block-krylov subspace routine to get an orthogonal basis
-    ## of the controllable subspace.
-    [U, H, Ucols] = krylov (a, b, n, tol, 1);
-    retval = (Ucols == n);
-  endif
-
-endfunction
--- a/scripts/control/system/is_detectable.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2002, 2003, 2004, 2005, 2006,
-##               2007 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{retval} =} is_detectable (@var{a}, @var{c}, @var{tol}, @var{dflg})
-## @deftypefnx {Function File} {@var{retval} =} is_detectable (@var{sys}, @var{tol})
-## Test for detectability (observability of unstable modes) of (@var{a}, @var{c}).
-##
-## Returns 1 if the system @var{a} or the pair (@var{a}, @var{c}) is
-## detectable, 0 if not, and -1 if the system has unobservable modes at the
-## imaginary axis (unit circle for discrete-time systems).
-##
-## @strong{See} @command{is_stabilizable} for detailed description of
-## arguments and computational method.
-## @seealso{is_stabilizable, size, rows, columns, length, ismatrix,
-## isscalar, isvector}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-## Updated by John Ingram (ingraje@eng.auburn.edu) July 1996.
-
-function [retval, U] = is_detectable (a, c, tol, dflg)
-
-  if (nargin < 1)
-    print_usage ();
-  elseif (isstruct (a))
-    ## system form
-    if (nargin == 2)
-      tol = c;
-    elseif (nargin > 2)
-      print_usage ();
-    endif
-    dflg = is_digital (a);
-    [a,b,c] = sys2ss (a);
-  else
-    if (nargin > 4 || nargin == 1)
-      print_usage ();
-    endif
-    if (! exist ("dflg"))
-      dflg = 0;
-    endif
-  endif
-
-  if (! exist ("tol"))
-    if (isa (a, "single") || isa (c, "single"))
-      tol = 200 * eps("single");
-    else
-      tol = 200 * eps;
-    endif
-  endif
-
-  retval = is_stabilizable (a', c', tol, dflg);
-
-endfunction
-
--- a/scripts/control/system/is_digital.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,84 +0,0 @@
-## Copyright (C) 1996, 1999, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{digital} =} is_digital (@var{sys}, @var{eflg})
-## Return nonzero if system is digital.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## System data structure.
-## @item eflg
-## When equal to 0 (default value), exits with an error if the system
-## is mixed (continuous and discrete components); when equal to 1, print
-## a warning if the system is mixed (continuous and discrete); when equal
-## to 2, operate silently.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item digital
-## When equal to 0, the system is purely continuous; when equal to 1, the
-## system is purely discrete; when equal to -1, the system is mixed continuous
-## and discrete.
-## @end table
-## Exits with an error if @var{sys} is a mixed (continuous and discrete) system.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 1996
-
-function DIGITAL = is_digital (sys, eflg)
-
-  switch (nargin)
-  case 1
-    eflg = 0;
-  case 2
-    if (isempty (find (eflg == [0, 1, 2])))
-      error ("invalid value of eflg=%g", eflg);
-    endif
-  otherwise,
-    print_usage ();
-  endswitch
-
-  ## checked for sampled data system (mixed)
-  ## discrete system
-  sysyd = sysgetsignals (sys, "yd");
-  [nn, nz] = sysdimensions (sys);
-  cont = sum (sysyd == 0) + nn;
-  tsam = sysgettsam (sys);
-  dig = sum (sysyd != 0) + nz + tsam;
-
-  ## check for mixed system
-  if (cont*dig != 0)
-   switch (eflg)
-   case 0
-     error ("continuous/discrete system; use syscont, sysdisc, or c2d first");
-   case 1
-     warning ("is_digital: mixed continuous/discrete system");
-   endswitch
-   dig_sign = -1;
-  else
-   dig_sign = 1;
-  endif
-
-  DIGITAL = dig_sign*(tsam > 0);
-
-endfunction
--- a/scripts/control/system/is_observable.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,61 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{retval}, @var{u}] =} is_observable (@var{a}, @var{c}, @var{tol})
-## @deftypefnx {Function File} {[@var{retval}, @var{u}] =} is_observable (@var{sys}, @var{tol})
-## Logical check for system observability.
-##
-## Default: tol = @code{tol = 10*norm(a,'fro')*eps}
-##
-## Returns 1 if the system @var{sys} or the pair (@var{a}, @var{c}) is
-## observable, 0 if not.
-##
-## See @command{is_controllable} for detailed description of arguments
-## and default values.
-## @seealso{size, rows, columns, length, ismatrix, isscalar, isvector}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-## Updated by John Ingram (ingraje@eng.auburn.edu) July 1996.
-
-function [retval, U] = is_observable (a, c, tol)
-
-  if (nargin < 1)
-    print_usage ();
-  elseif (isstruct (a))
-    ## system form
-    if (nargin == 2)
-      tol = c;
-    elseif (nargin > 2)
-      print_usage ();
-    endif
-    [a, b, c] = sys2ss (a);
-  elseif (nargin > 3)
-    print_usage ();
-  endif
-  if (exist ("tol"))
-    [retval, U] = is_controllable (a', c', tol);
-  else
-    [retval, U] = is_controllable (a', c');
-  endif
-
-endfunction
-
--- a/scripts/control/system/is_sample.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,37 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2003, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} is_sample (@var{ts})
-## Return true if @var{ts} is a valid sampling time
-## (real, scalar, > 0).
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 1995
-
-function out = is_sample (Ts)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-
-  out = (isscalar (Ts) && (Ts == abs (Ts)) && (Ts != 0));
-
-endfunction
--- a/scripts/control/system/is_signal_list.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,43 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2003, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} is_signal_list (@var{mylist})
-## Return true if @var{mylist} is a list of individual strings.
-## @end deftypefn
-
-function flg = is_signal_list (mylist)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-
-  flg = iscell (mylist);
-  if (flg)
-    flg = (rows (mylist) == 1 || columns (mylist) == 1);
-  endif
-  if (flg)
-    for ii = 1:length (mylist)
-      if (! (ischar (mylist{ii}) && rows (mylist{ii}) == 1))
-	flg = 0;
-      endif
-    endfor
-  endif
-
-endfunction
--- a/scripts/control/system/is_siso.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,41 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} is_siso (@var{sys})
-## Returns nonzero if the system data structure
-## @var{sys} is single-input, single-output.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 1996, 1998
-
-function  SISO = is_siso (sys)
-
-  if (nargin != 1)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("input must be a system structure (see ss, tf, zp)");
-  endif
-
-  [n, nz, m, p] = sysdimensions (sys);
-
-  SISO = (m == 1 && p == 1);
-
-endfunction
--- a/scripts/control/system/is_stabilizable.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,129 +0,0 @@
-## Copyright (C) 1998, 2000, 2001, 2002, 2003, 2004, 2005, 2006, 2007
-##               Kai P. Mueller.
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{retval} =} is_stabilizable (@var{sys}, @var{tol})
-## @deftypefnx {Function File} {@var{retval} =} is_stabilizable (@var{a}, @var{b}, @var{tol}, @var{dflg})
-## Logical check for system stabilizability (i.e., all unstable modes are controllable).
-## Returns 1 if the system is stabilizable, 0 if the system is not stabilizable, -1
-## if the system has non stabilizable modes at the imaginary axis (unit circle for
-## discrete-time systems.
-##
-## Test for stabilizability is performed via Hautus Lemma. If
-## @iftex
-## @tex
-## @var{dflg}$\neq$0
-## @end tex
-## @end iftex
-## @ifinfo
-## @var{dflg}!=0
-## @end ifinfo
-## assume that discrete-time matrices (a,b) are supplied.
-## @seealso{size, rows, columns, length, ismatrix, isscalar, isvector
-## is_observable, is_stabilizable, is_detectable}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-## Updated by A. S. Hodel (scotte@eng.auburn.edu) Aubust, 1995 to use krylovb
-## Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 to accept systems
-
-function retval = is_stabilizable (a, b, tol, dflg)
-
-  if (nargin < 1)
-    print_usage ();
-  elseif (isstruct (a))
-    ## system passed.
-    if (nargin == 2)
-      tol = b;          % get tolerance
-    elseif (nargin > 2)
-      print_usage ();
-    endif
-    disc = is_digital(a);
-    [a, b] = sys2ss (a);
-  else
-    ## a,b arguments sent directly.
-    if (nargin > 4 || nargin == 1)
-      print_usage ();
-    endif
-    if (exist ("dflg"))
-      disc = dflg;
-    else
-      disc = 0;
-    endif
-  endif
-
-  if (! exist ("tol"))
-    if (isa (a, "single") || isa (b, "single"))
-      tol = 200 * eps("single");
-    else
-      tol = 200 * eps;
-    endif
-  endif
-
-  ## Checking dimensions
-  n = is_square (a);
-  if (n == 0)
-    error ("is_stabilizable: a must be square");
-  endif
-  [nr, m] = size (b);
-  if (nr != n)
-    error ("is_stabilizable:  (a,b) not conformal");
-  endif
-
-  ##Computing the eigenvalue of A
-  L = eig (a);
-  retval = 1;
-  specflag = 0;
-  for i = 1:n
-    if (disc == 0)
-      ## Continuous time case
-      rL = real (L(i));
-      if (rL >= 0)
-	H = [eye(n)*L(i)-a, b];
-	f = (rank (H, tol) == n);
-	if (f == 0)
-	  retval = 0;
-	  if (rL == 0)
-	    specflag = 1;
-	  endif
-	endif
-      endif
-    else
-      ## Discrete time case
-      rL = abs (L(i));
-      if (rL >= 1)
-	H = [eye(n)*L(i)-a, b];
-	f = (rank (H, tol) == n);
-	if (f == 0)
-	  retval = 0;
-	  if (rL == 1)
-	    specflag = 1;
-	  endif
-	endif
-      endif
-    endif
-  endfor
-  if (specflag == 1)
-    ## This means that the system has uncontrollable modes at the imaginary axis
-    ## (or at the unit circle for discrete time systems)
-    retval = -1;
-  endif
-
-endfunction
--- a/scripts/control/system/is_stable.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,90 +0,0 @@
-## Copyright (C) 1993, 1994, 1995, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} is_stable (@var{a}, @var{tol}, @var{dflg})
-## @deftypefnx {Function File} {} is_stable (@var{sys}, @var{tol})
-## Returns 1 if the matrix @var{a} or the system @var{sys}
-## is stable, or 0 if not.
-##
-## @strong{Inputs}
-## @table @var
-## @item  tol
-## is a roundoff parameter, set to 200*@code{eps} if omitted.
-## @item dflg
-## Digital system flag (not required for system data structure):
-## @table @code
-## @item @var{dflg} != 0
-## stable if eig(a) is in the unit circle
-##
-## @item @var{dflg} == 0
-## stable if eig(a) is in the open LHP (default)
-## @end table
-## @end table
-## @seealso{size, rows, columns, length, ismatrix, isscalar, isvector
-## is_observable, is_stabilizable, is_detectable, krylov, krylovb}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1993
-## Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 for systems
-## Updated to simpler form by a.s.hodel 1998
-
-function retval = is_stable (a, tol, disc)
-
-  if (nargin < 1 || nargin > 3)
-    print_usage ();
-  elseif (isstruct (a))
-    ## system was passed
-    if (nargin < 3)
-      disc = is_digital(a);
-    elseif (disc != is_digital (a))
-      warning ("is_stable: disc =%d does not match system", disc)
-    endif
-    sys = sysupdate (a, "ss");
-    a = sys2ss (sys);
-  else
-    if (nargin < 3)
-      disc = 0;
-    endif
-    if (issquare (a) == 0)
-      error ("A(%dx%d) must be square", rows (A), columns (A));
-    endif
-  endif
-
-  if (nargin < 2)
-    if (isa (a, "single"))
-      tol = 200 * eps("single");
-    else
-      tol = 200 * eps;
-    endif
-  elseif (! isscalar (tol))
-    error ("is_stable: tol(%dx%d) must be a scalar", rows (tol),
-	   columns (tol));
-  endif
-
-  l = eig (a);
-  if (disc)
-    nbad = sum (abs(l)*(1+tol) > 1);
-  else
-    nbad = sum (real(l)+tol > 0);
-  endif
-  retval = (nbad == 0);
-
-endfunction
--- a/scripts/control/system/jet707.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,71 +0,0 @@
-## Copyright (C) 1997, 2000, 2004, 2005, 2006, 2007 Kai P. Mueller
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{sys} =} jet707 ()
-## Creates a linearized state-space model of a Boeing 707-321 aircraft
-## at @var{v}=80 m/s
-## @iftex
-## @tex
-## ($M = 0.26$, $G_{a0} = -3^{\circ}$, ${\alpha}_0 = 4^{\circ}$, ${\kappa}= 50^{\circ}$).
-## @end tex
-## @end iftex
-## @ifinfo
-## (@var{M} = 0.26, @var{Ga0} = -3 deg, @var{alpha0} = 4 deg, @var{kappa} = 50 deg).
-## @end ifinfo
-##
-## System inputs: (1) thrust and (2) elevator angle.
-##
-## System outputs:  (1) airspeed and (2) pitch angle.
-##
-## @strong{Reference}: R. Brockhaus: @cite{Flugregelung} (Flight
-## Control), Springer, 1994.
-## @seealso{ord2}
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: September 28, 1997
-
-function outsys = jet707 ()
-
-  if (nargin != 0)
-    print_usage ();
-  endif
-
-  a = [-0.46E-01,            0.10681415316, 0.0,   -0.17121680433;
-       -0.1675901504661613, -0.515,         1.0,    0.6420630320636088E-02;
-        0.1543104215347786, -0.547945,     -0.906, -0.1521689385990753E-02;
-        0.0,                 0.0,           1.0,    0.0];
-
-  b = [0.1602300107479095,      0.2111848453E-02;
-       0.8196877780963616E-02, -0.3025E-01;
-       0.9173594317692437E-01, -0.75283075;
-       0.0,                     0.0];
-
-  c = [1.0, 0.0, 0.0, 0.0;
-       0.0, 0.0, 0.0, 1.0];
-
-  d = zeros(2,2);
-
-  inam = {"thrust"; "rudder"};
-  onam = {"speed"; "pitch"};
-  snam = {"x1"; "x2"; "x3"; "x4"};
-
-  outsys = ss (a, b, c, d, 0.0, 4, 0, snam, inam, onam);
-
-endfunction
--- a/scripts/control/system/listidx.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,102 +0,0 @@
-## Copyright (C) 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{idxvec}, @var{errmsg}] =} listidx (@var{listvar}, @var{strlist})
-## Return indices of string entries in @var{listvar} that match strings
-## in @var{strlist}.
-##
-## Both @var{listvar} and @var{strlist} may be passed as strings or
-## string matrices.  If they are passed as string matrices, each entry
-## is processed by @code{deblank} prior to searching for the entries.
-##
-## The first output is the vector of indices in @var{listvar}.
-##
-## If @var{strlist} contains a string not in @var{listvar}, then
-## an error message is returned in @var{errmsg}.  If only one output
-## argument is requested, then @var{listidx} prints @var{errmsg} to the
-## screen and exits with an error.
-## @end deftypefn
-
-function [idxvec, errmsg]  = listidx (listvar, strlist)
-
-  error ("listidx: don't use this anymore, ok?");
-
-  if (nargin != 2)
-    print_usage ();
-  endif
-
-  if (ischar (strlist))
-    tmp = strlist;
-    strlist = list();
-    for kk = 1:rows(tmp)
-      strlist(kk) = deblank (tmp(kk,:));
-    endfor
-  endif
-
-  if (ischar (listvar))
-    tmp = listvar;
-    listvar = list();
-    for kk = 1:rows(tmp)
-      listvar(kk) = deblank (tmp(kk,:));
-    endfor
-  endif
-
-  ## initialize size of idxvec (for premature return)
-  idxvec = zeros (length(strlist), 1);
-
-  errmsg = "";
-  if (! is_signal_list (listvar))
-    errmsg = "listvar must be a list of strings";
-  elseif (! is_signal_list(strlist))
-    errmsg = "strlist must be a list of strings";
-  endif
-
-  if (length (errmsg))
-    if (nargout < 2)
-      error(errmsg);
-    else
-      return;
-    endif
-  endif
-
-  nsigs = length (listvar);
-  for idx = 1:length(strlist)
-    signame = strlist{idx};
-    for jdx = 1:nsigs
-      if (strcmp (signame, listvar{jdx}))
-	if (idxvec(idx) != 0)
-	  warning ("Duplicate signal name %s (%d,%d)\n",
-		   listvar{jdx}, jdx, idxvec(idx));
-	else
-	  idxvec(idx) = jdx;
-	endif
-      endif
-    endfor
-    if (idxvec (idx) == 0)
-      errmsg = sprintf ("Did not find %s", signame);
-      if (nargout == 1)
-	error (errmsg);
-      else
-	break;
-      endif
-    endif
-  endfor
-
-endfunction
--- a/scripts/control/system/moddemo.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,206 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} moddemo (@var{inputs})
-## Octave Control toolbox demo: Model Manipulations demo.
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 15, 1994
-## a s hodel: updated to reflect updated output order in ss2zp
-
-function moddemo ()
-
-  while (1)
-    clc
-    disp("Octave Model Manipulations Demo")
-    disp("=======================================")
-    disp("  1)  Perform continuous to discrete time conversion (c2d)")
-    disp("  2)  Convert from state space to zero / pole form (ss2zp)")
-    disp("      Convert from zero / pole to state space form (zp2ss)")
-    disp("  3)  Convert from state space to transfer function form (ss2tf)")
-    disp("      Convert from transfer function to state space form (tf2ss)")
-    disp("  4)  Convert from transfer function to zero / pole form (tf2zp)")
-    disp("      Convert from zero / pole to transfer function form (zp2tf)")
-    disp("  5)  Return to main demo menu")
-    disp(" ")
-    k=6;
-    while(k > 5 || k < 1)
-      k = input("Please enter a number:");
-    endwhile
-    if (k == 1)
-      clc
-      disp("Perform continuous to discrete time conversion (c2d)\n")
-      disp("Example #1, Consider the following continuous time state space system:\n")
-      a=[0, 1; -25, -4]
-      b=[0; 1]
-      c=[1, 1]
-      d=1
-      prompt
-      disp("\nTo convert this to a discrete time system (using a zero order hold),")
-      disp("use the following commands:\n")
-      cmd="sys=ss(a,b,c,d);";
-      run_cmd
-      cmd="dsys = c2d(sys,0.2);";
-      run_cmd
-      cmd="sysout(dsys);";
-      run_cmd
-      disp("Function check\n")
-      disp("Check the poles of sys vs dsys:\n")
-      cmd="[da,db]=sys2ss(dsys);";
-      run_cmd
-      cmd="lam = eig(a);";
-      run_cmd
-      disp("Discretize the continuous time eigenvalues using the matrix exponential:\n")
-      disp("lambc = exp(lam*0.2)\n")
-      lambc = exp(lam*0.2)
-      disp("Check the eigenvalues of da\n")
-      lambd = eig(da)
-      disp("Calculate the difference between lambd and lambc:\n")
-      cmd = "error = sort(lambd)-sort(lambc)\n";
-      run_cmd
-      disp("The error is on the order of roundoff noise, so we're o.k.")
-      prompt
-      clc
-    elseif (k == 2)
-      clc
-      disp("Convert from state space to zero / pole form (ss2zp)\n")
-      disp("Example #1, Consider the following state space system:\n")
-      a=[0, 3, 1; -2, -4, 5; 5, 8, 2]
-      b=[0; 5; 2.5]
-      c=[6, -1.9, 2]
-      d=[-20]
-      prompt
-      disp(" ")
-      disp("\nTo find the poles and zeros of this sytstem, use the following command:\n")
-      disp("\n[zer, pol] = ss2zp(a, b, c, d)\n")
-      prompt
-      disp("Results:\n")
-      [zer, pol] = ss2zp(a, b, c, d)
-      disp("Variable Description:\n")
-      disp("zer, pol => zeros and poles of the state space system")
-      disp("a, b, c, d => state space system\n")
-      prompt
-      clc
-      disp("Convert from zero / pole to state space form (zp2ss)\n")
-      disp("Example #1, Consider the following set of zeros and poles:\n")
-      zer
-      pol
-      prompt
-      disp("\nTo find an equivalent state space representation for this set of poles")
-      disp("and zeros, use the following commands:\n")
-      k=1
-      disp("\n[na, nb, nc, nd] = zp2ss(zer, pol, k)\n")
-      prompt
-      disp("Results:\n")
-      [na, nb, nc, nd] = zp2ss(zer, pol, k)
-      disp("Variable Description:\n")
-      disp("na, nb, nc, nd => state space system equivalent to zero / pole input")
-      disp("zer, pol => zeros and poles of desired state space system")
-      disp("k => gain associated with the zeros\n")
-      prompt
-      disp("Function check\n")
-      disp("Are the eigenvalues of the origonal state space system the same as the")
-      disp("eigenvalues of the newly constructed state space system ?\n")
-      disp("Find the difference between the two sets of eigenvalues")
-      disp("error = sort(eig(a)) - sort(eig(na))\n")
-      error = sort(eig(a)) - sort(eig(na))
-      prompt
-      clc
-    elseif (k == 3)
-      clc
-      disp("Convert from state space to transfer function (ss2tf)\n")
-      disp("Example #1, Consider the following state space system:\n")
-      a=[0, 1; -2, -3]
-      b=[1; 1]
-      c=[1, 9]
-      d=[1]
-      prompt
-      disp("\nTo find an equivalent transfer function for this system, use")
-      disp("the following command:\n")
-      disp("[num, den] = ss2tf(a, b, c, d)\n")
-      prompt
-      disp("Results:\n")
-      [num,den] = ss2tf(a, b, c, d)
-      disp("Variable Description:\n")
-      disp("num, den => numerator and denominator of transfer function that is")
-      disp("            equivalent to the state space system")
-      disp("a, b, c, d => state space system\n")
-      prompt
-      clc
-      disp("Convert from transfer function to state space form (tf2ss)\n")
-      disp("Example #1, Consider the following transfer function:\n")
-      num
-      den
-      prompt
-      disp("\nTo find an equivalent state space representation for this system, use")
-      disp("the following command:\n")
-      disp("[a, b, c, d] = tf2ss(num, den)\n")
-      prompt
-      disp("Results:\n")
-      [a, b, c, d] = tf2ss(num, den)
-      disp("Variable Description:\n")
-      disp("a, b, c, d => state space system equivalent to transfer function input")
-      disp("num, den => numerator and denominator of transfer function that is equivalent")
-      disp("            to the state space system\n")
-      prompt
-      clc
-    elseif (k == 4)
-      clc
-      disp("Convert from transfer function to zero / pole form (tf2zp)\n")
-      disp("Example #1, Consider the following transfer function:\n")
-      num=[1, 2, 3, 4, 5, ]
-      den=[1, 2, 3, 4, 5, 6, 7]
-      prompt
-      disp("\nTo find the zeros and poles of this system, use the following command:\n")
-      disp("[zer,pol] = tf2zp(num,den)\n")
-      prompt
-      disp("Results:\n")
-      [zer,pol] = tf2zp(num,den)
-      disp("Variable Description:\n")
-      disp("zer,pol => zeros and poles of the transfer function")
-      disp("num, den => numerator and denominator of transfer function\n")
-      prompt
-      clc
-      disp("Convert from zero / pole to transfer function (zp2tf)\n")
-      disp("Example #1, Consider the following set of zeros and poles:\n")
-      zer
-      pol
-      prompt
-      disp("\nTo find an equivalent transfer function representation for this set")
-      disp("of poles and zeros, use the following commands:\n")
-      k=1
-      disp("\n[num, den] = zp2tf(zer, pol, k)\n")
-      prompt
-      disp("Results:\n")
-      [num, den] = zp2tf(zer, pol, k)
-      disp("Variable Description:\n")
-      disp("[num, den] => transfer function representation of desired set of zeros")
-      disp("              and poles")
-      disp("a, b, c, d => state space system")
-      disp("zer, pol => zeros and poles of desired state space system")
-      disp("k => gain associated with the zeros\n")
-      prompt
-      clc
-    elseif (k == 5)
-      return
-    endif
-  endwhile
-endfunction
--- a/scripts/control/system/ord2.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,78 +0,0 @@
-## Copyright (C) 1997, 2000, 2004, 2005, 2006, 2007 Kai P. Mueller
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} ord2 (@var{nfreq}, @var{damp}, @var{gain})
-## Creates a continuous 2nd order system with parameters:
-##
-## @strong{Inputs}
-## @table @var
-## @item nfreq
-## natural frequency [Hz]. (not in rad/s)
-## @item damp
-## damping coefficient
-## @item gain
-## dc-gain
-## This is steady state value only for damp > 0.
-## gain is assumed to be 1.0 if omitted.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item outsys
-## system data structure has representation with
-## @ifinfo
-## @math{w = 2 * pi * nfreq}:
-## @end ifinfo
-## @iftex
-## @tex
-## $ w = 2  \pi  f $:
-## @end tex
-## @end iftex
-## @example
-## @group
-##     /                                        \
-##     | / -2w*damp -w \  / w \                 |
-## G = | |             |, |   |, [ 0  gain ], 0 |
-##     | \   w       0 /  \ 0 /                 |
-##     \                                        /
-## @end group
-## @end example
-## @end table
-## @strong{See also} @command{jet707} (@acronym{MIMO} example, Boeing 707-321
-## aircraft model)
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: September 28, 1997
-
-function outsys = ord2 (nfreq, damp, gain)
-
-  ## Updates
-
-  if (nargin == 2 || nargin == 3)
-    if (nargin == 2)
-      gain = 1.0;
-    endif
-    w = 2.0 * pi * nfreq;
-    outsys = ss ([-2.0*w*damp, -w; w, 0], [w; 0], [0, gain]);
-  else
-    print_usage ();
-  endif
-
-endfunction
--- a/scripts/control/system/packedform.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,96 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-save_var = page_screen_output ();
-page_screen_output (1);
-disp("Description of system data structure:")
-disp("A linear system is stored in a structure, and may be represented in")
-disp("ss (state space), tf (transfer function),  and/or zp (zero-pole-gain)")
-disp("form.")
-disp(" ")
-disp("variables in all representations:")
-disp("inname: list of signal names (strings) containing name(s) of system ")
-disp("        inputs; see is_signal_list");
-disp("n: number of continuous states")
-disp("nz: number of discrete states")
-disp("outname: list of signal names (strings) containing name(s) of system ")
-disp("        outputs");
-disp(" ")
-disp("variables in all representations:(cont'd)")
-disp("sys: system status vector.  This vector indicates both what")
-disp("     representation was used to initialize the system data structure")
-disp("     (called the primary system type) and which other representations")
-disp("     are currently up-to-date with the primary system type.")
-disp("     sys(0): primary system type")
-disp("           =0 for tf form")
-disp("           =1 for zp form")
-disp("           =2 for ss form")
-disp("     sys(1:3): indicate whether tf, zp, or ss, respectively, are")
-disp("          \"up to date\" (whether it is safe to use the variables")
-disp("          associated with these representations)")
-disp("     sys(1): = 1 if tf variables are up to date")
-disp("             = 0 else");
-disp("     sys(2): = 1 if zp variables are up to date")
-disp("             = 0 else");
-disp("     sys(3): = 1 if ss variables are up to date")
-disp("             = 0 else");
-disp("You can update alternative representations internally with the")
-disp("sysupdate command:")
-disp(" ")
-help sysupdate
-disp("===============================")
-disp("More variables common to all representations in system data structures:");
-disp("tsam: discrete time sampling interval ")
-disp("      =0 if system is purely continuous");
-disp("      >0 if system has discrete-time states or outputs");
-disp("yd: vector indicating which outputs are discrete time (i.e.,")
-disp("    produced by D/A converters) and which are continuous time.")
-disp("    yd(ii) = 0 if output ii is continuous, = 1 if discrete.")
-disp(" ")
-disp("===============================")
-disp("variables in tf representations (SISO only):")
-disp("num: vector of numerator coefficients")
-disp("den: vector of denominator coefficients")
-disp(" ")
-disp("===============================")
-disp("variables in zp representations (SISO only):")
-disp("zer: vector of system zeros")
-disp("pol: vector of system poles")
-disp("k: system leading coefficient")
-disp(" ")
-disp("===============================")
-disp("variables in ss representations:")
-disp("a,b,c,d: usual state-space matrices.  If a system has both")
-disp("        continuous and discrete states, they are sorted so that")
-disp("        continuous states come first, then discrete states")
-disp(" ")
-disp("WARNING: some functions (e.g., bode) will not accept systems")
-disp("with both discrete and continuous states/outputs")
-disp("stname: list of signal names (strings) containing name(s) of system ")
-disp("        states");
-disp("===============================")
-disp("Object oriented programming:")
-disp("It is recommended that users do not directly access the internal")
-disp("variables themselves, but use the interface functions")
-disp("  fir             ss              tf              sys2fir")
-disp("  sys2ss          sys2tf          sys2zp          syschtsam")
-disp("  sysdimensions   sysgetsignals   syssetsignals   sysgettype")
-disp("  zp    ")
-disp("to create/access internal variables.  ");
-page_screen_output (save_var);
--- a/scripts/control/system/parallel.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,73 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{ksys} =} parallel (@var{asys}, @var{bsys})
-## Forms the parallel connection of two systems.
-##
-## @example
-## @group
-##              --------------------
-##              |      --------    |
-##     u  ----->|----> | asys |--->|----> y1
-##         |    |      --------    |
-##         |    |      --------    |
-##         |--->|----> | bsys |--->|----> y2
-##              |      --------    |
-##              --------------------
-##                   ksys
-## @end group
-## @end example
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 15, 1994
-## completely rewritten Oct 1996 a s hodel
-## SYS_INTERNAL accesses members of system structure
-
-function sysp = parallel (Asys, Bsys)
-
-  if(nargin != 2)
-    print_usage ();
-  endif
-  if (! isstruct(Asys) )
-    error ("1st input argument is not a system data structure");
-  elseif (! isstruct(Bsys) )
-    error ("2nd input argument is not a system data structure");
-  endif
-  [Ann, Anz, mA] = sysdimensions(Asys);
-  [Bnn, Bnz, mB] = sysdimensions(Bsys);
-  if (mA != mB)
-    error ("Asys has %d inputs, Bsys has %d inputs", mA, mB);
-  endif
-
-  ## save signal names
-  Ain = sysgetsignals (Asys, "in");
-
-  ## change signal names to avoid warning messages from sysgroup
-  Asys = syssetsignals (Asys, "in", __sysdefioname__ (length (Ain), "Ain_u"));
-  Bsys = syssetsignals (Bsys, "in", __sysdefioname__ (length (Ain), "Bin_u"));
-
-  sysp = sysgroup (Asys, Bsys);
-  sysD = ss ([], [], [], [eye(mA); eye(mA)]);
-
-  sysp = sysmult (sysp, sysD);
-  sysp = syssetsignals (sysp, "in", Ain);
-
-endfunction
--- a/scripts/control/system/ss.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,306 +0,0 @@
-## Copyright (C) 1996, 1998, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{outsys} =} ss (@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}, @var{n}, @var{nz}, @var{stname}, @var{inname}, @var{outname}, @var{outlist})
-## Create system structure from state-space data.   May be continuous,
-## discrete, or mixed (sampled data)
-##
-## @strong{Inputs}
-## @table @var
-## @item a
-## @itemx b
-## @itemx c
-## @itemx d
-## usual state space matrices.
-##
-## default: @var{d} = zero matrix
-##
-## @item   tsam
-## sampling rate.  Default: @math{tsam = 0} (continuous system)
-##
-## @item n
-## @itemx nz
-## number of continuous, discrete states in the system
-##
-## If @var{tsam} is 0, @math{n = @code{rows}(@var{a})}, @math{nz = 0}.
-##
-## If @var{tsam} is greater than zero, @math{n = 0},
-## @math{nz = @code{rows}(@var{a})}
-##
-## see below for system partitioning
-##
-## @item  stname
-## cell array of strings of state signal names
-##
-## default (@var{stname}=[] on input): @code{x_n} for continuous states,
-##                     @code{xd_n} for discrete states
-##
-## @item inname
-## cell array of strings of input signal names
-##
-## default (@var{inname} = [] on input): @code{u_n}
-##
-## @item outname
-## cell array of strings of output signal names
-##
-## default (@var{outname} = [] on input): @code{y_n}
-##
-## @item   outlist
-##
-## list of indices of outputs y that are sampled
-##
-## If @var{tsam} is 0, @math{outlist = []}.
-##
-## If @var{tsam} is greater than 0, @math{outlist = 1:@code{rows}(@var{c})}.
-## @end table
-##
-## Unlike states, discrete/continuous outputs may appear in any order.
-##
-## @code{sys2ss} returns a vector @var{yd} where
-## @var{yd}(@var{outlist}) = 1; all other entries of @var{yd} are 0.
-##
-## @strong{Output}
-## @table @var
-## @item outsys
-## system data structure
-## @end table
-##
-## @strong{System partitioning}
-##
-## Suppose for simplicity that outlist specified
-## that the first several outputs were continuous and the remaining outputs
-## were discrete.  Then the system is partitioned as
-## @example
-## @group
-## x = [ xc ]  (n x 1)
-##     [ xd ]  (nz x 1 discrete states)
-## a = [ acc acd ]  b = [ bc ]
-##     [ adc add ]      [ bd ]
-## c = [ ccc ccd ]  d = [ dc ]
-##     [ cdc cdd ]      [ dd ]
-##
-##     (cdc = c(outlist,1:n), etc.)
-## @end group
-## @end example
-## with dynamic equations:
-## @ifinfo
-## @math{d/dt xc(t)     = acc*xc(t)      + acd*xd(k*tsam) + bc*u(t)}
-##
-## @math{xd((k+1)*tsam) = adc*xc(k*tsam) + add*xd(k*tsam) + bd*u(k*tsam)}
-##
-## @math{yc(t)      = ccc*xc(t)      + ccd*xd(k*tsam) + dc*u(t)}
-##
-## @math{yd(k*tsam) = cdc*xc(k*tsam) + cdd*xd(k*tsam) + dd*u(k*tsam)}
-## @end ifinfo
-## @iftex
-## @tex
-## $$\eqalign{
-## {d \over dt} x_c(t)
-##   & =   a_{cc} x_c(t)      + a_{cd} x_d(k*t_{sam}) + bc*u(t) \cr
-## x_d((k+1)*t_{sam})
-##   & =   a_{dc} x_c(k t_{sam}) + a_{dd} x_d(k t_{sam}) + b_d u(k t_{sam}) \cr
-## y_c(t)
-##  & =  c_{cc} x_c(t) + c_{cd} x_d(k t_{sam}) + d_c u(t) \cr
-## y_d(k t_{sam})
-##   & =  c_{dc} x_c(k t_{sam}) + c_{dd} x_d(k t_{sam}) + d_d u(k t_{sam})
-## }$$
-## @end tex
-## @end iftex
-##
-## @strong{Signal partitions}
-## @example
-## @group
-##         | continuous      | discrete               |
-## ----------------------------------------------------
-## states  | stname(1:n,:)   | stname((n+1):(n+nz),:) |
-## ----------------------------------------------------
-## outputs | outname(cout,:) | outname(outlist,:)     |
-## ----------------------------------------------------
-## @end group
-## @end example
-## where @math{cout} is the list of in 1:@code{rows}(@var{p})
-## that are not contained in outlist. (Discrete/continuous outputs
-## may be entered in any order desired by the user.)
-##
-## @strong{Example}
-## @example
-## octave:1> a = [1 2 3; 4 5 6; 7 8 10];
-## octave:2> b = [0 0 ; 0 1 ; 1 0];
-## octave:3> c = eye (3);
-## octave:4> sys = ss (a, b, c, [], 0, 3, 0, ...
-## >                   @{"volts", "amps", "joules"@});
-## octave:5> sysout(sys);
-## Input(s)
-##         1: u_1
-##         2: u_2
-##
-## Output(s):
-##         1: y_1
-##         2: y_2
-##         3: y_3
-##
-## state-space form:
-## 3 continuous states, 0 discrete states
-## State(s):
-##         1: volts
-##         2: amps
-##         3: joules
-##
-## A matrix: 3 x 3
-##    1   2   3
-##    4   5   6
-##    7   8  10
-## B matrix: 3 x 2
-##   0  0
-##   0  1
-##   1  0
-## C matrix: 3 x 3
-##   1  0  0
-##   0  1  0
-##   0  0  1
-## D matrix: 3 x 3
-##   0  0
-##   0  0
-##   0  0
-## @end example
-## Notice that the @math{D} matrix is constructed  by default to the
-## correct dimensions.  Default input and output signals names were assigned
-## since none were given.
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: July 20, 1996
-
-function retsys = ss (a, b, c, d, tsam, n, nz, stname, inname, outname, outlist)
-
-  ## Test for correct number of inputs
-  if (nargin < 3 || nargin > 11)
-    print_usage ();
-  endif
-
-  ## verify A, B, C, D arguments
-  ## If D is not specified, set it to a zero matrix of appriate dimension.
-  if (nargin == 3)
-    d = zeros (rows (c), columns (b));
-  elseif (isempty (d))
-    d = zeros (rows (c), columns (b));
-  endif
-
-  ## Check the dimensions
-  [na, m, p] = abcddim (a, b, c, d);
-
-  ## If dimensions are wrong, exit function
-  if (m == -1)
-    error ("a(%dx%d), b(%dx%d), c(%dx%d), d(%dx%d); incompatible",
-	   rows (a), columns (a), rows (b), columns (b),
-	   rows (c), columns (c), rows (d), columns (d));
-  endif
-
-  ## check for tsam input
-  if (nargin < 5)
-    tsam = 0;
-  elseif (! (is_sample (tsam) || tsam == 0))
-    error ("tsam must be a nonnegative real scalar");
-  endif
-
-  ## check for continuous states
-  if (nargin < 6 && tsam == 0)
-    n = na;
-  elseif (nargin < 6)
-    n = 0;
-  elseif (! ismatrix (n) || ischar (n))
-    error ("Parameter n is not a numerical value.");
-  elseif (! isscalar(n) || n < 0 || n != round (n))
-    if (isscalar (n))
-      error ("invalid value of n=%d,%e", n, n);
-    else
-      error ("invalid value of n=(%dx%d)", rows (n), columns (n));
-    endif
-  endif
-
-  ## check for num discrete states
-  if (nargin < 7 && tsam == 0)
-    nz = 0;
-  elseif (nargin < 7)
-    nz = na - n;
-  elseif (! ismatrix(nz) || ischar (nz))
-    error ("Parameter nz is not a numerical value.");
-  elseif (! isscalar(nz) || nz < 0 || nz != round(nz))
-    if (isscalar (nz))
-      error ("invalid value of nz=%d", nz);
-    else
-      error ("invalid value of nz=(%d,%d)", rows (nz), columns (nz));
-    endif
-  endif
-
-  ## check for total number of states
-  if ((n + nz) != na)
-    error ("invalid: a is %dx%d, n=%d, nz=%d", na, na, n, nz);
-  endif
-
-  ## construct system with default names
-  retsys.a = a;
-  retsys.b = b;
-  retsys.c = c;
-  retsys.d = d;
-
-  retsys.n = n;
-  retsys.nz = nz;
-  retsys.tsam = tsam;
-  retsys.yd = zeros (1, p);     # default value entered below
-
-  ## Set the system vector:  active = 2(ss), updated = [0 0 1];
-  retsys.sys = [2, 0, 0, 1];
-
-  retsys.stname = __sysdefstname__ (n, nz);
-  retsys.inname = __sysdefioname__ (m, "u");
-  retsys.outname = __sysdefioname__ (p, "y");
-
-  ## check for state names
-  if (nargin >= 8)
-    if (! isempty (stname))
-      retsys = syssetsignals (retsys, "st", stname);
-    endif
-  endif
-
-  ## check for input names
-  if (nargin >= 9)
-    if (! isempty (inname))
-      retsys = syssetsignals (retsys, "in", inname);
-    endif
-  endif
-
-  ## check for output names
-  if (nargin >= 10)
-    if (! isempty (outname))
-      retsys = syssetsignals (retsys, "out", outname);
-    endif
-  endif
-
-  ## set up yd
-  if (nargin < 11)
-    retsys = syssetsignals (retsys, "yd", ones(1,p)*(tsam > 0));
-  else
-    if (! isempty (outlist))
-      retsys = syssetsignals (retsys, "yd", ones (size (outlist)), outlist);
-    endif
-  endif
-
-endfunction
--- a/scripts/control/system/ss2sys.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,193 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} ss2sys (@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}, @var{n}, @var{nz}, @var{stname}, @var{inname}, @var{outname}, @var{outlist})
-## Create system structure from state-space data.   May be continuous,
-## discrete, or mixed (sampled data)
-##
-## @strong{Inputs}
-## @table @var
-## @item a
-## @itemx b
-## @itemx c
-## @itemx d
-## usual state space matrices.
-##
-## default: @var{d} = zero matrix
-##
-## @item   tsam
-## sampling rate.  Default: @math{tsam = 0} (continuous system)
-##
-## @item n
-## @itemx nz
-## number of continuous, discrete states in the system
-##
-## If @var{tsam} is 0, @math{n = @code{rows}(@var{a})}, @math{nz = 0}.
-##
-## If @var{tsam} is greater than zero, @math{n = 0},
-## @math{nz = @code{rows}(@var{a})}
-##
-## see below for system partitioning
-##
-## @item  stname
-## cell array of strings of state signal names
-##
-## default (@var{stname}=[] on input): @code{x_n} for continuous states,
-##                     @code{xd_n} for discrete states
-##
-## @item inname
-## cell array of strings of input signal names
-##
-## default (@var{inname} = [] on input): @code{u_n}
-##
-## @item outname
-## cell array of strings of input signal names
-##
-## default (@var{outname} = [] on input): @code{y_n}
-##
-## @item   outlist
-##
-## list of indices of outputs y that are sampled
-##
-## If @var{tsam} is 0, @math{outlist = []}.
-##
-## If @var{tsam} is greater than 0, @math{outlist = 1:@code{rows}(@var{c})}.
-## @end table
-##
-## Unlike states, discrete/continuous outputs may appear in any order.
-##
-## @code{sys2ss} returns a vector @var{yd} where
-## @var{yd}(@var{outlist}) = 1; all other entries of @var{yd} are 0.
-##
-## @strong{Outputs}
-## @var{outsys} = system data structure
-##
-## @strong{System partitioning}
-##
-## Suppose for simplicity that outlist specified
-## that the first several outputs were continuous and the remaining outputs
-## were discrete.  Then the system is partitioned as
-## @example
-## @group
-## x = [ xc ]  (n x 1)
-##     [ xd ]  (nz x 1 discrete states)
-## a = [ acc acd ]  b = [ bc ]
-##     [ adc add ]      [ bd ]
-## c = [ ccc ccd ]  d = [ dc ]
-##     [ cdc cdd ]      [ dd ]
-##
-##     (cdc = c(outlist,1:n), etc.)
-## @end group
-## @end example
-## with dynamic equations:
-## @ifinfo
-## @math{d/dt xc(t)     = acc*xc(t)      + acd*xd(k*tsam) + bc*u(t)}
-##
-## @math{xd((k+1)*tsam) = adc*xc(k*tsam) + add*xd(k*tsam) + bd*u(k*tsam)}
-##
-## @math{yc(t)      = ccc*xc(t)      + ccd*xd(k*tsam) + dc*u(t)}
-##
-## @math{yd(k*tsam) = cdc*xc(k*tsam) + cdd*xd(k*tsam) + dd*u(k*tsam)}
-## @end ifinfo
-## @iftex
-## @tex
-## $$\eqalign{
-## {d \over dt} x_c(t)
-##   & =   a_{cc} x_c(t)      + a_{cd} x_d(k*t_{sam}) + bc*u(t) \cr
-## x_d((k+1)*t_{sam})
-##   & =   a_{dc} x_c(k t_{sam}) + a_{dd} x_d(k t_{sam}) + b_d u(k t_{sam}) \cr
-## y_c(t)
-##  & =  c_{cc} x_c(t) + c_{cd} x_d(k t_{sam}) + d_c u(t) \cr
-## y_d(k t_{sam})
-##   & =  c_{dc} x_c(k t_{sam}) + c_{dd} x_d(k t_{sam}) + d_d u(k t_{sam})
-## }$$
-## @end tex
-## @end iftex
-##
-## @strong{Signal partitions}
-## @example
-## @group
-##         | continuous      | discrete               |
-## ----------------------------------------------------
-## states  | stname(1:n,:)   | stname((n+1):(n+nz),:) |
-## ----------------------------------------------------
-## outputs | outname(cout,:) | outname(outlist,:)     |
-## ----------------------------------------------------
-## @end group
-## @end example
-## where @math{cout} is the list of in 1:@code{rows}(@var{p})
-## that are not contained in outlist. (Discrete/continuous outputs
-## may be entered in any order desired by the user.)
-##
-## @strong{Example}
-## @example
-## octave:1> a = [1 2 3; 4 5 6; 7 8 10];
-## octave:2> b = [0 0 ; 0 1 ; 1 0];
-## octave:3> c = eye (3);
-## octave:4> sys = ss (a, b, c, [], 0, 3, 0,
-## >                   @{"volts", "amps", "joules"@});
-## octave:5> sysout(sys);
-## Input(s)
-##         1: u_1
-##         2: u_2
-##
-## Output(s):
-##         1: y_1
-##         2: y_2
-##         3: y_3
-##
-## state-space form:
-## 3 continuous states, 0 discrete states
-## State(s):
-##         1: volts
-##         2: amps
-##         3: joules
-##
-## A matrix: 3 x 3
-##    1   2   3
-##    4   5   6
-##    7   8  10
-## B matrix: 3 x 2
-##   0  0
-##   0  1
-##   1  0
-## C matrix: 3 x 3
-##   1  0  0
-##   0  1  0
-##   0  0  1
-## D matrix: 3 x 3
-##   0  0
-##   0  0
-##   0  0
-## @end example
-## Notice that the @math{D} matrix is constructed  by default to the
-## correct dimensions.  Default input and output signals names were assigned
-## since none were given.
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: July 20, 1996
-
-function retsys = ss2sys (varargin )
-
-  warning ("ss2sys is deprecated.  Use ss instead.");
-  retsys = ss (varargin{:});
-
-endfunction
--- a/scripts/control/system/ss2tf.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,101 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{num}, @var{den}] =} ss2tf (@var{a}, @var{b}, @var{c}, @var{d})
-## Conversion from transfer function to state-space.
-## The state space system:
-## @iftex
-## @tex
-## $$ \dot x = Ax + Bu $$
-## $$ y = Cx + Du $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##       .
-##       x = Ax + Bu
-##       y = Cx + Du
-## @end example
-## @end ifinfo
-##
-## is converted to a transfer function:
-## @iftex
-## @tex
-## $$ G(s) = { { \rm num }(s) \over { \rm den }(s) } $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##
-##                 num(s)
-##           G(s)=-------
-##                 den(s)
-## @end example
-## @end ifinfo
-##
-## used internally in system data structure format manipulations.
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: June 24, 1994
-## a s hodel: modified to allow for pure gain blocks Aug 1996
-
-function [num, den] = ss2tf (a, b, c, d)
-
-  if (nargin != 4)
-    print_usage ();
-  endif
-
-  ## Check args
-  [n, m, p] = abcddim (a, b, c, d);
-  if (n == -1)
-    num = [];
-    den = [];
-    error("ss2tf: Non compatible matrix arguments");
-  elseif (m != 1 || p != 1)
-    num = [];
-    den = [];
-    error ("ss2tf: not SISO system: m=%d, p=%d", m, p);
-  endif
-
-  if(n == 0)
-    ## gain block only
-    num = d;
-    den = 1;
-  else
-    ## First, get the denominator coefficients
-    den = poly (a);
-
-    ## Get the zeros of the system
-    [zz, g] = tzero (a, b, c, d);
-
-    ## Form the Numerator (and include the gain)
-    if (! isempty (zz))
-      num = g * poly (zz);
-    else
-      num = g;
-    endif
-
-    ## the coefficients must be real
-    den = real (den);
-    num = real (num);
-  endif
-
-endfunction
--- a/scripts/control/system/ss2zp.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,56 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{pol}, @var{zer}, @var{k}] =} ss2zp (@var{a}, @var{b}, @var{c}, @var{d})
-## Converts a state space representation to a set of poles and zeros;
-## @var{k} is a gain associated with the zeros.
-##
-## Used internally in system data structure format manipulations.
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 15, 1994
-## Hodel: changed order of output arguments to zer, pol, k. July 1996
-## a s hodel: added argument checking, allow for pure gain blocks aug 1996
-
-function [zer, pol, k] = ss2zp (a, b, c, d)
-
-  if (nargin != 4)
-    print_usage ();
-  endif
-
-  [n, m, p] = abcddim (a, b, c, d);
-  if (n == -1)
-    error ("ss2tf: Non compatible matrix arguments");
-  elseif (m != 1 || p != 1)
-    error ("ss2tf: not SISO system: m=%d p=%d", m, p);
-  endif
-
-  if (n == 0)
-    ## gain block only
-    k = d;
-    zer = pol = [];
-  else
-    ## First, get the denominator coefficients
-    [zer, k] = tzero (a, b, c, d);
-    pol = eig (a);
-  endif
-
-endfunction
--- a/scripts/control/system/starp.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,133 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} starp (@var{P}, @var{K}, @var{ny}, @var{nu})
-##
-## Redheffer star product or upper/lower LFT, respectively.
-## @example
-## @group
-##
-##                +-------+
-##      --------->|       |--------->
-##                |   P   |
-##           +--->|       |---+  ny
-##           |    +-------+   |
-##           +-------------------+
-##                            |  |
-##           +----------------+  |
-##           |                   |
-##           |    +-------+      |
-##           +--->|       |------+ nu
-##                |   K   |
-##      --------->|       |--------->
-##                +-------+
-## @end group
-## @end example
-## If @var{ny} and @var{nu} ``consume'' all inputs and outputs of
-## @var{K} then the result is a lower fractional transformation.
-## If @var{ny} and @var{nu} ``consume'' all inputs and outputs of
-## @var{P} then the result is an upper fractional transformation.
-##
-## @var{ny} and/or @var{nu} may be negative (i.e. negative feedback).
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: May 1998
-
-function sys = starp (P, K, ny, nu);
-
-  if (nargin != 2 && nargin != 4)
-    print_usage ();
-  endif
-  if (! isstruct (P))
-    error ("---> P must be in system data structure");
-  endif
-  if (! isstruct (K))
-    error ("---> K must be in system data structure");
-  endif
-
-  P = sysupdate (P, "ss");
-  [n, nz, mp, pp] = sysdimensions (P);
-  np = n + nz;
-  K = sysupdate (K, "ss");
-  [n, nz, mk, pk] = sysdimensions (K);
-  nk = n + nz;
-  ny_sign = 1;
-  nu_sign = 1;
-  if (nargin == 2)
-    ## perform a LFT of P and K (upper or lower)
-    ny = min ([pp, mk]);
-    nu = min ([pk, mp]);
-  else
-    if (ny < 0)
-      ny = -ny;
-      ny_sign = -1;
-    endif
-    if (nu < 0)
-      nu = -nu;
-      nu_sign = -1;
-    endif
-  endif
-  if (ny > pp)
-    error ("---> P has not enough outputs.");
-  endif
-  if (nu > mp)
-    error ("---> P has not enough inputs.");
-  endif
-  if (ny > mk)
-    error ("---> K has not enough inputs.");
-  endif
-  if (nu > pk)
-    error ("---> K has not enough outputs.");
-  endif
-  nwp  = mp - nu;
-  nzp  = pp - ny;
-  nwk  = mk - ny;
-  nzk  = pk - nu;
-  if (nwp + nwk < 1)
-    error ("---> no inputs left for star product.");
-  endif
-  if (nzp + nzk < 1)
-    error ("---> no outputs left for star product.");
-  endif
-
-  ## checks done, form sys
-  if (nzp)
-    Olst = 1:nzp;
-  endif
-  if (nzk)
-    Olst = [Olst, pp+nu+1:pp+pk];
-  endif
-  if (nwp)
-    Ilst = 1:nwp;
-  endif
-  if (nwk)
-    Ilst = [Ilst, mp+ny+1:mp+mk];
-  endif
-  Clst = zeros (ny+nu, 2);
-  for ii = 1:nu
-    Clst(ii,:) = [nwp+ii, nu_sign*(pp+ii)];
-  endfor
-  for ii = 1:ny
-    Clst(nu+ii,:) = [mp+ii, ny_sign*(nzp+ii)];
-  endfor
-  sys = buildssic (Clst, [], Olst, Ilst, P, K);
-
-endfunction
--- a/scripts/control/system/sys2fir.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,58 +0,0 @@
-## Copyright (C) 1996, 2000, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{c}, @var{tsam}, @var{input}, @var{output}] =} sys2fir (@var{sys})
-##
-## Extract @acronym{FIR} data from system data structure; see @command{fir2sys} for
-## parameter descriptions.
-## @seealso{fir2sys}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 1996
-
-function [c, tsam, inname, outname] = sys2fir (sys)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-
-  ## let sys2tf do most of the work
-
-  [num, den, tsam, inname, outname] = sys2tf (sys);
-
-  alph = den(1);                        # scale to get monic denominator
-  den /= alph;
-  num /= alph;
-  l = length (den);
-  m = length (num);
-  if (norm (den(2:l)))
-    sysout (sys, "tf");
-    error ("denominator has poles away from origin");
-  elseif (! is_digital (sys))
-    error ("system must be discrete-time to be FIR");
-  elseif (m != l)
-    warning ("sys2fir: deg(num) - deg(den) = %d; coefficients must be shifted",
-	     m-l);
-  endif
-  c = num;
-
-endfunction
-
--- a/scripts/control/system/sys2ss.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,106 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}, @var{n}, @var{nz}, @var{stname}, @var{inname}, @var{outname}, @var{yd}] =} sys2ss (@var{sys})
-## Extract state space representation from system data structure.
-##
-## @strong{Input}
-## @table @var
-## @item sys
-## System data structure.
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item a
-## @itemx b
-## @itemx c
-## @itemx d
-## State space matrices for @var{sys}.
-##
-## @item tsam
-## Sampling time of @var{sys} (0 if continuous).
-##
-## @item n
-## @itemx nz
-## Number of continuous, discrete states (discrete states come
-## last in state vector @var{x}).
-##
-## @item stname
-## @itemx inname
-## @itemx outname
-## Signal names (lists of strings);  names of states,
-## inputs, and outputs, respectively.
-##
-## @item yd
-## Binary vector; @var{yd}(@var{ii}) is 1 if output @var{y}(@var{ii})
-## is discrete (sampled); otherwise  @var{yd}(@var{ii}) is 0.
-##
-## @end table
-## A warning massage is printed if the system is a mixed
-## continuous and discrete system.
-##
-## @strong{Example}
-## @example
-## octave:1> sys=tf2sys([1 2],[3 4 5]);
-## octave:2> [a,b,c,d] = sys2ss(sys)
-## a =
-##    0.00000   1.00000
-##   -1.66667  -1.33333
-## b =
-##   0
-##   1
-## c = 0.66667  0.33333
-## d = 0
-## @end example
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 19, 1994
-## Updates by John Ingram July 14, 1996
-
-function [a, b, c, d, tsam, n, nz, stname, inname, outname, yd] = sys2ss (sys)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-
-  if (! isstruct (sys))
-    error ("input argument must be a system data structure");
-  endif
-
-  sys = sysupdate (sys, "ss");        # make sure state space data is there
-  [n, nz, m, p] = sysdimensions (sys);
-  [stname, inname, outname, yd] = sysgetsignals (sys);
-  tsam = sysgettsam (sys);
-
-  cont = sum (yd == 0) + n;
-  dig = sum (yd != 0) + nz + tsam;
-  if (cont*dig)
-    warning ("sys2ss: input system is mixed continuous/discrete");
-  endif
-
-  a = sys.a;
-  b = sys.b;
-  c = sys.c;
-  d = sys.d;
-
-endfunction
-
--- a/scripts/control/system/sys2tf.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,63 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{num}, @var{den}, @var{tsam}, @var{inname}, @var{outname}] =} sys2tf (@var{sys})
-## Extract transfer function data from a system data structure.
-##
-## See @command{tf} for parameter descriptions.
-##
-## @strong{Example}
-## @example
-## octave:1> sys=ss([1 -2; -1.1,-2.1],[0;1],[1 1]);
-## octave:2> [num,den] = sys2tf(sys)
-## num = 1.0000  -3.0000
-## den = 1.0000   1.1000  -4.3000
-## @end example
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: June 24, 1994
-## modified to make sys2tf by A. S. Hodel Aug 1995
-## modified again for updated system format by John Ingram July 1996
-
-function [num, den, tsam, inname, outname] = sys2tf (Asys)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-
-  if (! isstruct (Asys))
-    error ("Asys must be a system data structure (see ss, tf, zp)");
-  elseif (! is_siso (Asys))
-    [n, nz, m, p] = sysdimensions (Asys);
-    error ("system is not SISO: %d inputs, %d outputs", m, p);
-  endif
-
-  Asys = sysupdate (Asys, "tf");          # just in case
-
-  num = Asys.num;
-  den = Asys.den;
-
-  tsam = sysgettsam (Asys);
-  inname = sysgetsignals (Asys, "in");
-  outname = sysgetsignals (Asys, "out");
-
-endfunction
-
--- a/scripts/control/system/sys2zp.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,65 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-##@deftypefn {Function File} {[@var{zer}, @var{pol}, @var{k}, @var{tsam}, @var{inname}, @var{outname}] =} sys2zp (@var{sys})
-## Extract zero/pole/leading coefficient information from a system data
-## structure.
-##
-## See @command{zp} for parameter descriptions.
-##
-## @strong{Example}
-## @example
-## octave:1> sys=ss([1 -2; -1.1,-2.1],[0;1],[1 1]);
-## octave:2> [zer,pol,k] = sys2zp(sys)
-## zer = 3.0000
-## pol =
-##   -2.6953
-##    1.5953
-## k = 1
-## @end example
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: July 15, 1996
-
-function [zer, pol, k, tsam, inname, outname] = sys2zp (sys)
-
-  if (nargin != 1)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sysconnect: sys must be in system data structure form")
-  elseif (! is_siso (sys))
-    [n, nz, m, p] = sysdimensions (sys);
-    error ("system is not SISO: %d inputs, %d outputs", m, p);
-  endif
-
-  ## update zero-pole form
-  sys = sysupdate (sys, "zp");
-
-  zer = sys.zer;
-  pol = sys.pol;
-  k = sys.k;
-  tsam    = sysgettsam (sys);
-  inname  = sysgetsignals (sys, "in");
-  outname = sysgetsignals (sys, "out");
-
-endfunction
-
-
--- a/scripts/control/system/sysadd.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,133 +0,0 @@
-## Copyright (C) 1996, 1999, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {}  sysadd (@var{gsys}, @var{hsys})
-## returns @var{sys} = @var{gsys} + @var{hsys}.
-## @itemize @bullet
-## @item Exits with
-## an error if @var{gsys} and @var{hsys} are not compatibly dimensioned.
-## @item Prints a warning message is system states have identical names;
-## duplicate names are given a suffix to make them unique.
-## @item @var{sys} input/output names are taken from @var{gsys}.
-## @end itemize
-## @example
-## @group
-##           ________
-##      ----|  gsys  |---
-## u   |    ----------  +|
-## -----                (_)----> y
-##     |     ________   +|
-##      ----|  hsys  |---
-##           --------
-## @end group
-## @end example
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: July 1996
-## Updated for variable number of arguments July 1999 A. S. Hodel
-
-function sys = sysadd (varargin)
-
-  if (nargin < 1)
-    print_usage ();
-  endif
-
-  ## collect all arguments
-  arglist = {};
-  for kk = 1:nargin
-    arglist{kk} = varargin{kk};
-    if (! isstruct (arglist{kk}))
-      error ("sysadd: argument %d is not a data structure", kk);
-    endif
-  endfor
-
-  ## check system dimensions
-  [n, nz, mg, pg, Gyd] = sysdimensions (arglist{1});
-  for kk = 2:nargin
-    [n, nz, mh, ph, Hyd] = sysdimensions (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 add
-  if (nargin == 2)
-    Gsys = arglist{1};
-    Hsys = arglist{2};
-
-    # check if adding scalar transfer functions with identical denoms
-    [Gn, Gnz, Gm, Gp] = sysdimensions (Gsys);
-    [Hn, Hnz, Hm, Hp] = sysdimensions (Hsys);
-    if (Gm == 1 & Gp == 1 & Hm == 1 & Hp == 1 & Gn == Hn & Gnz == Hnz)
-      ## dimensions are compatible, check if can add
-      [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 = tf (Gnum+Hnum, Gden, GT, Gin, Gout);
-          return;
-        endif
-      endif
-    endif
-
-    ## make sure in ss form
-    Gsys = sysupdate (Gsys, "ss");
-    Hsys = sysupdate (Hsys, "ss");
-    Gin = sysgetsignals (Gsys, "in");
-    Gout = sysgetsignals (Gsys, "out");
-    Hin = sysgetsignals (Hsys, "in");
-    Hout = sysgetsignals (Hsys, "out");
-
-    ## 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 = arglist{1};
-    for kk = 2:length(arglist)
-      sys = sysadd (sys, arglist{kk});
-    endfor
-  endif
-
-endfunction
-
--- a/scripts/control/system/sysappend.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,210 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{sys} =} sysappend (@var{syst}, @var{b}, @var{c}, @var{d}, @var{outname}, @var{inname}, @var{yd})
-## appends new inputs and/or outputs to a system
-##
-## @strong{Inputs}
-## @table @var
-## @item syst
-## system data structure
-##
-## @item b
-## matrix to be appended to sys "B" matrix (empty if none)
-##
-## @item c
-## matrix to be appended to sys "C" matrix (empty if none)
-##
-## @item d
-## revised sys d matrix (can be passed as [] if the revised d is all zeros)
-##
-## @item outname
-## list of names for new outputs
-##
-## @item inname
-## list of names for new inputs
-##
-## @item yd
-## binary vector; @math{yd(ii)=0} indicates a continuous output;
-## @math{yd(ii)=1} indicates a discrete output.
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item sys
-## @example
-## @group
-##    sys.b := [syst.b , b]
-##    sys.c := [syst.c  ]
-##             [ c     ]
-##    sys.d := [syst.d | D12 ]
-##             [ D21   | D22 ]
-## @end group
-## @end example
-## where @math{D12}, @math{D21}, and @math{D22} are the appropriate dimensioned
-## blocks of the input parameter @var{d}.
-## @itemize @bullet
-## @item The leading block @math{D11} of @var{d} is ignored.
-## @item If @var{inname} and @var{outname} are not given as arguments,
-##      the new inputs and outputs are be assigned default names.
-## @item @var{yd} is a binary vector of length rows(c) that indicates
-##      continuous/sampled outputs.  Default value for @var{yd} is:
-## @itemize @minus
-## @item @var{sys} is continuous or mixed
-## @var{yd} = @code{zeros(1,rows(c))}
-##
-## @item @var{sys} is discrete
-## @var{yd} = @code{ones(1,rows(c))}
-## @end itemize
-## @end itemize
-## @end table
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: August 1996
-
-function retsys = sysappend (sys, b, c, d, outname, inname, yd)
-
-  ## check input arguments
-  if (nargin < 2 || nargin > 7)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be a system data structure");
-  endif
-
-  ## default system type must be state space form
-  [Aa, Ab, Ac, Ad, Ats, Ann, Anz, Ast, Ain, Aout, Ayd] = sys2ss(sys);
-  [Ann, Anz, Am, Ap] = sysdimensions(sys);
-
-  ## default c
-  if (nargin < 3)
-    c = [];
-  endif
-
-  ## default d
-  if (nargin < 4)
-    make_d = 1;
-  elseif (isempty(d))
-    make_d = 1;
-  else
-    make_d = 0;
-  endif
-
-  if (make_d)
-    d = zeros (rows(c)+Ap, columns(b)+Am);
-  endif
-
-  ## Append new input(s) if any
-  Bm = max (columns(d), columns(b)+Am);
-  if (Bm != Am)
-    ## construct new signal names
-    if (nargin >= 6)   # new names were passed
-	if (! ischar (inname))
-	  error ("inname must be a string");
-	elseif (rows (inname) != Bm - Am)
-	  error ("%d new inputs requested; inname(%dx%d)",
-		 Bm-Am, rows (inname), columns (inname));
-	endif
-    else
-	inname = __sysdefioname__ (Bm, "u", Am+1);
-    endif
-
-    if (Am)
-      Ain = __sysconcat__(Ain, inname);
-    else
-      Ain = inname;
-    endif
-
-    ## default b matrix
-    if (isempty (b))
-      b = zeros (Ann+Anz, (Bm-Am));
-    elseif (rows (b) != Ann+Anz || columns (b) != Bm-Am)
-      error ("b(%dx%d); should be (%dx%d)", rows(b), columns(b),
-	     Ann+Anz, Bm-Am);
-    endif
-
-    ## append new b matrix
-    Ab = [Ab, b];
-  endif
-
-  ## Append new output(s) if any
-  Bp = max (rows(d), rows(c)+Ap);
-  if (Bp != Ap)
-
-    ## construct new signal names, output classification
-    if (nargin >= 5)  # new names were passed
-      if (! ischar (outname))
-	error ("outname must be a string");
-      elseif (rows (outname) != Bp-Ap)
-	error ("%d new outputs requested; outname(%dx%d)",
-	       Bp-Ap, rows (outname), columns (outname));
-      endif
-    else
-	outname = __sysdefioname__ (Bp, "y", (Ap+1));
-    endif
-    if (Ap)
-      Aout = __sysconcat__ (Aout, outname);
-    else
-      Aout = outname;
-    endif
-
-    ## construct new yd entries
-    if (nargin == 7)
-      if (! isvector (yd))
-	error ("yd(%dx%d) must be a vector", rows (yd), columns (yd));
-      elseif (rows (c) != length (yd) && rows (d) != length (yd))
-	error ("length(yd) = %d; c(%dx%d), d(%dx%d); mismatch",
-	       length (yd), rows (c), columns (c), rows (d), columns (d));
-      endif
-    else
-      ## default yd values
-      yd = ones (1, Bp) * ((Ats > 0) & (Ann == 0) & isempty (find (Ayd == 0)));
-    endif
-    Ayd = [vec(Ayd); vec(yd)];
-
-    ## default c matrix
-    if (isempty (c))
-      c = zeros (Bp-Ap, Ann+Anz);
-    elseif (columns (c) != Ann+Anz || rows (c) != Bp-Ap)
-      error ("c(%dx%d); should be (%dx%d)", rows (c), columns (c),
-	     Bp-Ap, Ann+Anz);
-    endif
-
-    ## append new c matrix
-    Ac = [Ac; c];
-  endif
-
-  ## check d matrix
-  if (isempty (d))
-    d = zeros (Bp, Bm);
-  elseif (rows (d) != Bp || columns (d) != Bm)
-    error ("d(%dx%d) should be (%dx%d)", rows (d), columns (d), Bp, Bp);
-  endif
-
-  ## Splice in original D matrix
-  if (Am & Ap)
-    d(1:Ap, 1:Am) = Ad;
-  endif
-  Ad = d;
-
-  ## construct return system
-  retsys = ss (Aa, Ab, Ac, Ad, Ats, Ann, Anz, Ast, Ain, Aout, find (Ayd == 1));
-
-endfunction
--- a/scripts/control/system/syschtsam.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,51 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2003, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} syschtsam (@var{sys}, @var{tsam})
-## This function changes the sampling time (tsam) of the system.  Exits with
-## an error if sys is purely continuous time.
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: August 1996
-
-function retsys = syschtsam (sys, tsam)
-
-  if (nargin != 2)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be in system data structure form");
-  elseif (! isscalar (tsam))
-    disp ("syschtsam:")
-    tsam
-    error ("tsam must be a scalar")
-  elseif (! (is_sample (tsam) || tsam <= 0))
-    error ("tsam must be real, scalar, and greater than zero");
-  elseif (sysgettsam (sys) == 0)
-    [nc, nz, mm, pp] = sysdimensions (sys);
-    warning ("syschtsam: continuous system (nc=%d, nz=%d, mm=%d, pp=%d)",
-	     nc, nz, mm, pp);
-    warning ("syschtsam: The system is continuous, use c2d to make the system discrete");
-  endif
-
-  retsys = sys;
-  retsys.tsam = tsam;
-
-endfunction
--- a/scripts/control/system/sysconnect.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,296 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{clsys} =} sysconnect (@var{sys}, @var{out_idx}, @var{in_idx}, @var{order}, @var{tol})
-## Close the loop from specified outputs to respective specified inputs
-##
-## @strong{Inputs}
-## @table @var
-## @item   sys
-## System data structure.
-## @item   out_idx
-## @itemx  in_idx
-## Names or indices of signals to connect (see @code{sysidx}).
-## The output specified by @math{out_idx(ii)} is connected to the input
-## specified by @math{in_idx(ii)}.
-## @item   order
-## logical flag (default = 0)
-## @table @code
-## @item        0
-## Leave inputs and outputs in their original order.
-## @item        1
-## Permute inputs and outputs to the order shown in the diagram below.
-## @end table
-## @item     tol
-## Tolerance for singularities in algebraic loops, default: 200@code{eps}.
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item clsys
-## Resulting closed loop system.
-## @end table
-##
-## @strong{Method}
-##
-## @code{sysconnect} internally permutes selected inputs, outputs as shown
-## below, closes the loop, and then permutes inputs and outputs back to their
-## original order
-## @example
-## @group
-##                  --------------------
-##  u_1       ----->|                  |----> y_1
-##                  |        sys       |
-##          old u_2 |                  |
-## u_2* ---->(+)--->|                  |----->y_2
-## (in_idx)   ^     --------------------    | (out_idx)
-##            |                             |
-##            -------------------------------
-## @end group
-## @end example
-## The input that has the summing junction added to it has an * added to
-## the end  of the input name.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-## modified by John Ingram July 1996
-
-function sys = sysconnect (sys, output_list, input_list, order, tol)
-
-  if (nargin < 3 || nargin > 5)
-    print_usage ();
-  endif
-
-  ## check order
-  if (nargin < 4)
-    order = 0;
-  elseif (order != 0 && order != 1)
-    error ("sysconnect: order must be either 0 or 1")
-  endif
-
-  if (isa (sys.a, "single") || isa (sys.b, "single") || isa (sys.c, "single") ||
-      isa (sys.d, "single"))
-    myeps = eps ("single");
-  else
-    myeps = eps;
-  endif
-
-  if (nargin < 5)
-    tol = 200*myeps;
-  elseif (! is_sample (tol))
-    error ("sysconnect: tol must be a positive scalar");
-  elseif (tol > 1e2*sqrt(myeps))
-    warning ("sysconnect: tol set to large value=%g, eps=%g", tol, myeps);
-  endif
-
-  ## convert signal names to indices
-  if (is_signal_list (input_list) || ischar (input_list))
-    input_list = sysidx (sys, "in", input_list);
-  endif
-  if (is_signal_list (output_list) || ischar (output_list))
-    output_list = sysidx (sys, "out", output_list);
-  endif
-
-  ## verify sizes,format of input, output lists
-  if (min (size (output_list)) * min (size (input_list)) != 1)
-    error ("output_list and input_list must be vectors");
-  else
-    lo = length (output_list);
-    li = length (input_list);
-    if (lo != li)
-      error ("output_list and input_list must be of the same length")
-    endif
-
-    if (is_duplicate_entry (output_list) || is_duplicate_entry (input_list))
-      error ("duplicate entry in input_list and/or output_list");
-    endif
-  endif
-
-  [nc, nz, mm, pp] = sysdimensions (sys);
-  nn = nc+nz;
-
-  if (! isstruct (sys))
-    error ("sys must be in structured system form")
-  elseif (pp < lo)
-    error ("length(output_list)=%d, sys has only %d system outputs", lo, pp);
-  elseif (mm < li)
-    error ("length(input_list)=%d, sys has only %d system inputs", li, mm);
-  endif
-
-  ## check that there are enough inputs/outputs in the system for the lists
-  if (max (input_list) > mm)
-    error ("max(input_list) exceeds the number of inputs");
-  elseif (max (output_list) > pp)
-    error ("max(output_list) exceeds the number of outputs");
-  endif
-
-  output_list = reshape (output_list, 1, length (output_list));
-
-  ## make sure we're in state space form
-  sys = sysupdate (sys, "ss");
-
-  ## permute rows and columns of B,C,D matrices into pseudo-dgkf form...
-  all_inputs = sysreorder (mm, input_list);
-  all_outputs = sysreorder (pp, output_list);
-
-  [aa, bb, cc, dd] = sys2ss (sys);
-  bb = bb(:,all_inputs);
-  cc = cc(all_outputs,:);
-  dd = dd(all_outputs,all_inputs);
-
-  yd = sysgetsignals (sys, "yd");
-  yd = yd(all_outputs);
-
-  ## m1, p1 = number of inputs, outputs that are not being connected
-  m1 = mm-li;
-  p1 = pp-li;
-
-  ## m2, p2: 1st column, row of B, C that is being connected
-  m2 = m1+1;
-  p2 = p1+1;
-
-  ## partition system into a DGKF-like form; the loop is closed around
-  ## B2, C2
-  if (m1 > 0)
-    B1 = bb(:,1:m1);
-    D21= dd(p2:pp,1:m1);
-  endif
-  B2 = bb(:,m2:mm);
-  if (p1 > 0)
-    C1 = cc(1:p1,:);
-    D12= dd(1:p1,m2:mm);
-  endif
-  C2 = cc(p2:pp,:);
-  if (m1*p1 > 0)
-    D11 = dd(1:p1,1:m1);
-  endif
-  D22 = dd(p2:pp,m2:mm);
-
-  if (norm (D22))
-    warning ("sysconnect: possible algebraic loop, D22 non-zero");
-    D22i = eye (size (D22)) - D22;
-    C2h = D22i\C2;
-    if (m1 > 0)
-      D21h = D22i\D21;
-    endif
-    D22h = D22i\D22;
-  else
-    C2h = C2;
-    if (m1 > 0)
-      D21h = D21;
-    endif
-    D22h = D22;
-
-  endif
-
-  ## check cont state -> disc output -> cont state
-  dyi = find (yd(p2:pp));
-
-  ## disp("sysconnect: dyi=")
-  ## dyi
-  ## nc
-  ## disp("/sysconnect");
-
-  if ((nc > 0) & find (dyi > 0))
-    B2con = B2(1:nc,dyi);       # connection to cont states
-    C2hd = C2h(dyi,1:nc);       # cont states -> outputs
-  else
-    B2con = C2hd = [];
-  endif
-
-  if (max (size (B2con)) & max (size (C2hd)))
-    if (norm (B2con*C2hd))
-      warning ("sysconnect: cont-state -> disc output -> cont state derivative");
-      warning ("connection made; resulting system may not be meaningful");
-    endif
-  endif
-
-  Ac = aa+B2*C2h;
-  if (m1 > 0)
-    B1c = B1 + B2*D21h;
-  endif
-  B2c = B2*(eye(size(D22h)) + D22h);
-  if (p1*m1 > 0)
-    D11c = D11 + D12*D21h;
-  endif
-  if (p1 > 0)
-    C1c  = C1+D12*C2h;
-    D12c = D12*(eye(size(D22h))+D22h);
-  endif
-
-  ## construct system data structure
-  if (m1 > 0)
-   Bc = [B1c, B2c];
-  else
-   Bc = B2c;
-  endif
-
-  if (p1 > 0)
-    Cc = [C1c;C2h];
-  else
-    Cc = C2h;
-  endif
-
-  if (m1*p1 > 0)
-    Dc = [D11c,D12c; D21h,D22h];
-  elseif (m1 > 0)
-    Dc = [D21h, D22h];
-  elseif (p1 > 0)
-    Dc = [D12c; D22h];
-  else
-    Dc = D22h;
-  endif
-
-  ## permute rows and columns of Bc, Cc, Dc back into original order
-  Im = eye (mm, mm);
-  Pi = Im(:,all_inputs);
-  back_inputs = Pi*[1:mm]';
-
-  Ip = eye (pp, pp);
-  Po = Ip(:,all_outputs);
-  back_outputs = Po*[1:pp]';
-
-  Bc = Bc(:,back_inputs);
-  Cc = Cc(back_outputs,:);
-  Dc = Dc(back_outputs,back_inputs);
-  yd = yd(back_outputs);
-
-  ## rebuild system
-  Ts = sysgettsam (sys);
-  [stnam, innam, outnam] = sysgetsignals (sys);
-  sys = ss (Ac, Bc, Cc, Dc, Ts, nc, nz, stnam, innam, outnam, find (yd));
-
-  ## update connected input names
-  for ii = 1:length(input_list)
-    idx = input_list(ii);
-    tmpval = sysgetsignals (sys, "in", idx);
-    strval = sprintf ("%s*", tmpval{1} );
-    sys = syssetsignals (sys, "in", strval, idx);
-  endfor
-
-  ## maintain original system type if it was SISO
-  if (strcmp (sysgettype (sys), "tf"))
-    sysupdate (sys, "tf");
-  elseif (strcmp (sysgettype (sys),"zp"))
-    sysupdate (sys, "zp");
-  endif
-
-endfunction
--- a/scripts/control/system/syscont.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,87 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{csys}, @var{acd}, @var{ccd}] =} syscont (@var{sys})
-## Extract the purely continuous subsystem of an input system.
-##
-## @strong{Input}
-## @table @var
-## @item sys
-## system data structure.
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item csys
-## is the purely continuous input/output connections of @var{sys}
-## @item acd
-## @itemx ccd
-## connections from discrete states to continuous states,
-## discrete states to continuous outputs, respectively.
-##
-## If no continuous path exists, @var{csys} will be empty.
-## @end table
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: August 1996
-
-function [csys, Acd, Ccd] = syscont (sys)
-
-  if (nargin != 1)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be in system data structure form");
-  endif
-
-  sys = sysupdate (sys, "ss");
-  [n_tot, st_c, st_d, y_c, y_d] = __syscont_disc__ (sys);        # get ranges
-
-  ## assume there's nothing there; build partitions as appropriate
-  Acc = Acd = Bcc = Ccc = Ccd = Dcc = [];
-
-  if (isempty (st_c) && isempty (y_c))
-    error ("syscont: expecting continuous states and/or continuous outputs");
-  elseif (isempty (st_c))
-    warning ("syscont: no continuous states");
-  elseif (isempty (y_c))
-    warning ("syscont: no continuous outputs");
-  endif
-
-  [sys_a, sys_b, sys_c, sys_d ] = sys2ss (sys);
-  [sys_stname, sys_inname, sys_outname] = sysgetsignals (sys);
-  [sys_n, sys_nz, sys_m, sys_p] = sysdimensions (sys);
-  if (! isempty (st_c))
-    Acc = sys_a(st_c,st_c);
-    stname = sys_stname(st_c);
-    Bcc = sys_b(st_c,:);
-    Ccc = sys_c(y_c,st_c);
-    Acd = sys_a(st_c,st_d);
-  else
-    stname = [];
-  endif
-  outname = sys_outname(y_c);
-  Dcc = sys_d(y_c,:);
-  Ccd = sys_c(y_c,st_d);
-  inname = sys_inname;
-
-  csys = ss (Acc, Bcc, Ccc, Dcc, 0, sys_n, 0, stname, inname, outname);
-
-endfunction
--- a/scripts/control/system/sysdimensions.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,102 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{n}, @var{nz}, @var{m}, @var{p}, @var{yd}] =} sysdimensions (@var{sys}, @var{opt})
-## return the number of states, inputs, and/or outputs in the system
-## @var{sys}.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## system data structure
-##
-## @item opt
-## String indicating which dimensions are desired.  Values:
-## @table @code
-## @item "all"
-## (default) return all parameters as specified under Outputs below.
-##
-## @item "cst"
-## return @var{n}= number of continuous states
-##
-## @item "dst"
-## return @var{n}= number of discrete states
-##
-## @item "in"
-## return @var{n}= number of inputs
-##
-## @item "out"
-## return @var{n}= number of outputs
-## @end table
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item  n
-##  number of continuous states (or individual requested dimension as specified
-## by @var{opt}).
-## @item  nz
-##  number of discrete states
-## @item  m
-##  number of system inputs
-## @item  p
-##  number of system outputs
-## @item  yd
-##  binary vector; @var{yd}(@var{ii}) is nonzero if output @var{ii} is
-## discrete.
-## @math{yd(ii) = 0} if output @var{ii} is continuous
-## @end table
-## @seealso{sysgetsignals, sysgettsam}
-## @end deftypefn
-
-function [n, nz, m, p, yd] = sysdimensions (sys, opt)
-
-  if (nargin < 1 || nargin > 2)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sysdimensions: expecting system structure as first argument");
-  elseif (nargin == 1)
-    opt = "all";
-  endif
-
-  n = sys.n;
-  nz = sys.nz;
-  m = length (sysgetsignals (sys, "in"));
-  p = length (sysgetsignals (sys, "out"));
-  yd = sys.yd;
-  valid_options = {"all", "cst", "dst", "st", "in", "out"};
-  valid_values = {n,n,nz,n+nz,m,p};
-
-  valid_opt = 0;
-  for ii = 1:length(valid_options)
-    if (strcmp(valid_options{ii}, opt))
-      n = valid_values{ii};
-      valid_opt = 1;
-      if (ii > 1 && nargout > 1)
-        warning ("opt=%s, %d output arguments requested", opt, nargout);
-      endif
-    endif
-  endfor
-
-  if (! valid_opt)
-    error ("invalid option passed = %s", opt);
-  endif
-
-endfunction
--- a/scripts/control/system/sysdisc.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,98 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{dsys}, @var{adc}, @var{cdc}] =} sysdisc (@var{sys})
-##
-## @strong{Input}
-## @table @var
-## @item sys
-## System data structure.
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item dsys
-## Purely discrete portion of sys (returned empty if there is
-## no purely discrete path from inputs to outputs).
-## @item    adc
-## @itemx   cdc
-## Connections from continuous states to discrete states and discrete
-## outputs, respectively.
-## @end table
-## @end deftypefn
-
-function [dsys, Adc, Cdc] = sysdisc (sys)
-
-  if (nargin != 1)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be in system data structure form");
-  endif
-
-  sys = sysupdate (sys, "ss");
-  [n_tot, st_c, st_d, y_c, y_d] = __syscont_disc__ (sys);        # get ranges
-
-  ## assume there's nothing there; build partitions as appropriate
-  Add = Adc = Bdd = Cdd = Cdc = Ddd = [];
-
-  if (isempty (st_d) && isempty (y_d))
-    error ("sysdisc: expecting discrete states and/or continuous outputs");
-  elseif (isempty (st_d))
-    warning ("sysdisc: no discrete states");
-  elseif (isempty (y_d))
-    warning ("sysdisc: no discrete outputs");
-  endif
-
-  [aa, bb, cc, dd] = sys2ss (sys);
-  if (! isempty(st_d))
-    Add = aa(st_d,st_d);
-    stname = sysgetsignals (sys, "st", st_d);
-    Bdd = bb(st_d,:);
-    if (! isempty (st_c))
-      Adc = aa(st_d,st_c);
-    endif
-    if (! isempty (y_d))
-	Cdd = cc(y_d,st_d);
-    endif
-  else
-    stname = [];
-  endif
-  if (! isempty (y_d))
-    Ddd = dd(y_d , :);
-    outname = sysgetsignals (sys, "out", y_d);
-    if (! isempty (st_c))
-	Cdc = cc(y_d,st_c);
-    endif
-  else
-    outname = [];
-  endif
-  inname = sysgetsignals (sys, "in");
-  outlist = 1:rows(outname);
-
-  if (! isempty (outname))
-    tsam = sysgettsam (sys);
-    [nc, nz] = sysdimensions (sys);
-    dsys = ss (Add, Bdd, Cdd, Ddd, tsam, 0, nz, stname, inname,
-	       outname, outlist);
-  else
-    dsys = [];
-  endif
-
-endfunction
--- a/scripts/control/system/sysdup.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,132 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{retsys} =} sysdup (@var{asys}, @var{out_idx}, @var{in_idx})
-## Duplicate specified input/output connections of a system
-##
-## @strong{Inputs}
-## @table @var
-## @item asys
-## system data structure
-## @item out_idx
-## @itemx in_idx
-## indices or names of desired signals (see @code{sigidx}).
-## duplicates are made of @code{y(out_idx(ii))} and @code{u(in_idx(ii))}.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item retsys
-## Resulting closed loop system:
-## duplicated i/o names are appended with a @code{"+"} suffix.
-## @end table
-##
-## @strong{Method}
-##
-## @code{sysdup} creates copies of selected inputs and outputs as
-## shown below.  @var{u1}, @var{y1} is the set of original inputs/outputs, and
-## @var{u2}, @var{y2} is the set of duplicated inputs/outputs in the order
-## specified in @var{in_idx}, @var{out_idx}, respectively
-## @example
-## @group
-##           ____________________
-## u1  ----->|                  |----> y1
-##           |       asys       |
-## u2 ------>|                  |----->y2
-## (in_idx)  -------------------- (out_idx)
-## @end group
-## @end example
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-## modified by John Ingram July 1996
-
-function retsys = sysdup (Asys, output_list, input_list)
-
-  if (nargin != 3)
-    print_usage ();
-  endif
-
-  if (! isstruct (Asys))
-    error ("Asys must be a system data structure (see ss, tf, or zp)")
-  endif
-
-  Asys = sysupdate (Asys, "ss");
-  [nn, nz, mm, pp] = sysdimensions (Asys);
-  [aa, bb, cc, dd] = sys2ss (Asys);
-
-  ## check for signal names
-  if (is_signal_list (input_list) || ischar (input_list))
-    input_list = sysidx (Asys, "in", input_list);
-  endif
-  if (is_signal_list (output_list) || ischar (output_list))
-    output_list = sysidx (Asys, "out", output_list);
-  endif
-
-  ## first duplicate inputs
-  if (isvector (input_list))
-    for ii = 1:length(input_list);
-      bb(:,mm+ii) = bb(:,input_list(ii));
-      dd(:,mm+ii) = dd(:,input_list(ii));
-    endfor
-  elseif (! isempty (input_list))
-    error ("input_list must be a vector or empty");
-  endif
-
-
-  ## now duplicate outputs
-  osize = min (size (output_list));
-  if (osize == 1)
-    for ii = 1:length(output_list);
-      cc(pp+ii,:) = cc(output_list(ii),:);
-      dd(pp+ii,:) = dd(output_list(ii),:);
-    endfor
-  elseif (osize != 0)
-    error ("output_list must be a vector or empty");
-  endif
-
-  [stnam, innam, outnam, yd] = sysgetsignals (Asys);
-  tsam = sysgettsam (Asys);
-
-  ## pack system and then rename signals
-  retsys = ss (aa, bb, cc, dd, tsam, nn, nz);
-  retsys = syssetsignals (retsys, "in", innam, 1:mm);
-  retsys = syssetsignals (retsys, "out", outnam, 1:pp);
-  retsys = syssetsignals (retsys, "yd", yd, 1:pp);
-
-  ## update added input names
-  for ii = (mm+1):(mm+length(input_list))
-    onum = input_list(ii-mm);
-    strval = sprintf ("%s(dup)", sysgetsignals (retsys, "in", onum, 1));
-    retsys = syssetsignals (retsys, "in", strval, ii);
-  endfor
-
-  ## update added output names/discrete flags
-  ## give default names to the added outputs
-  for jj = (pp+1):(pp+length(output_list))
-    onum = output_list(jj-pp);
-    strval = sprintf ("%s(dup)", sysgetsignals (retsys, "out", onum, 1));
-    retsys = syssetsignals (retsys, "out", strval, jj);
-    dflg = sysgetsignals (retsys, "yd", onum);
-    retsys = syssetsignals (retsys, "yd", dflg, jj);
-  endfor
-
-endfunction
--- a/scripts/control/system/sysgetsignals.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,205 +0,0 @@
-## Copyright (C) 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{stname}, @var{inname}, @var{outname}, @var{yd}] =} sysgetsignals (@var{sys})
-## @deftypefnx {Function File} {@var{siglist} =} sysgetsignals (@var{sys}, @var{sigid})
-## @deftypefnx {Function File} {@var{signame} =} sysgetsignals (@var{sys}, @var{sigid}, @var{signum}, @var{strflg})
-## Get signal names from a system
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## system data structure for the state space system
-##
-## @item sigid
-## signal id.  String.  Must be one of
-## @table @code
-## @item "in"
-## input signals
-## @item "out"
-## output signals
-## @item "st"
-## stage signals
-## @item "yd"
-## value of logical vector @var{yd}
-## @end table
-##
-## @item signum
-## index(indices) or name(s) or signals; see @code{sysidx}
-##
-## @item strflg
-## flag to return a string instead of a cell array;  Values:
-## @table @code
-## @item 0
-## (default) return a cell array (even if signum specifies an individual signal)
-##
-## @item 1
-## return a string.  Exits with an error if signum does not specify an
-## individual signal.
-## @end table
-##
-## @end table
-##
-## @strong{Outputs}
-## @table @bullet
-## @item If @var{sigid} is not specified:
-## @table @var
-## @item stname
-## @itemx inname
-## @itemx outname
-## signal names (cell array of strings);  names of states,
-## inputs, and outputs, respectively.
-## @item yd
-## binary vector; @var{yd}(@var{ii}) is nonzero if output @var{ii} is
-## discrete.
-## @end table
-##
-## @item If @var{sigid} is specified but @var{signum} is not specified:
-## @table @code
-## @item sigid="in"
-## @var{siglist} is set to the cell array of input names.
-##
-## @item sigid="out"
-## @var{siglist} is set to the cell array of output names.
-##
-## @item sigid="st"
-## @var{siglist} is set to the cell array of state names.
-##
-## stage signals
-## @item sigid="yd"
-## @var{siglist} is set to logical vector indicating discrete outputs;
-## @var{siglist}(@var{ii}) = 0 indicates that output @var{ii} is continuous
-## (unsampled), otherwise it is discrete.
-##
-## @end table
-##
-## @item If the first three input arguments are specified:
-## @var{signame} is a cell array of the specified signal names (@var{sigid} is
-## @code{"in"}, @code{"out"}, or @code{"st"}), or else the logical flag
-## indicating whether output(s) @var{signum} is(are) discrete (@var{sigval}=1)
-## or continuous (@var{sigval}=0).
-## @end table
-##
-## @strong{Examples} (From @code{sysrepdemo})
-## @example
-## octave> sys=ss(rand(4),rand(4,2),rand(3,4));
-## octave># get all signal names
-## octave> [Ast,Ain,Aout,Ayd] = sysgetsignals(sys)
-## Ast =
-## (
-##   [1] = x_1
-##   [2] = x_2
-##   [3] = x_3
-##   [4] = x_4
-## )
-## Ain =
-## (
-##   [1] = u_1
-##   [2] = u_2
-## )
-## Aout =
-## (
-##   [1] = y_1
-##   [2] = y_2
-##   [3] = y_3
-## )
-## Ayd =
-##
-##   0  0  0
-## octave> # get only input signal names:
-## octave> Ain = sysgetsignals(sys,"in")
-## Ain =
-## (
-##   [1] = u_1
-##   [2] = u_2
-## )
-## octave> # get name of output 2 (in cell array):
-## octave> Aout = sysgetsignals(sys,"out",2)
-## Aout =
-## (
-##   [1] = y_2
-## )
-## octave> # get name of output 2 (as string):
-## octave> Aout = sysgetsignals(sys,"out",2,1)
-## Aout = y_2
-## @end example
-## @end deftypefn
-
-function [stname, inname, outname, yd] = sysgetsignals (sys, sigid, signum, strflg)
-
-  ## Adapted from ss
-
-  if (nargin < 1 || nargin > 4)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("input argument must be a system data structure");
-  endif
-  if (nargin < 4)
-    strflg = 0;
-  endif
-
-  if (nargin == 1)
-    sys = sysupdate (sys, "ss");          #make sure ss is up to date
-    stname = sysgetsignals (sys, "st");
-    inname = sysgetsignals (sys, "in");
-    outname = sysgetsignals (sys, "out");
-    yd = sysgetsignals (sys, "yd");
-  elseif (! (ischar (sigid) && min (size (sigid)) == 1))
-    error ("sigid(%dx%d) must be a string)", rows (sigid), columns (sigid));
-  else
-    if (strcmp ("st", sigid))
-      stname = sys.stname;
-    elseif (strcmp ("in", sigid))
-      stname = sys.inname;
-    elseif (strcmp ("out", sigid))
-      stname = sys.outname;
-    elseif (strcmp ("yd", sigid))
-      stname = vec(sys.yd)';
-    else
-      error ("sigid=%s must be \"st\", \"in\", \"out\", or \"yd\"", sigid);
-    endif
-    if (nargin >= 3)
-      if (is_signal_list (signum) || ischar (signum))
-        signum = cellidx (stname, signum);
-      endif
-      if (max (signum) > length (stname))
-        error ("sysgetsignals(sys,\"%s\",%d):only %d entries",
-               sigid, signum, rows (stname));
-      else
-        if (! isscalar (strflg))
-          error ("strflg must be a scalar");
-        endif
-        switch (strflg)
-        case 0
-          stname = stname (signum);
-        case 1
-          if (length (signum) > 1)
-            error ("strflg=1, length(signum) = %d", length (signum));
-          endif
-          stname = stname{signum};
-        otherwise
-          error ("invalid value of strflg = %e", strflg);
-        endswitch
-      endif
-    endif
-  endif
-
-endfunction
-
--- a/scripts/control/system/sysgettsam.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,37 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2003, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} sysgettsam (@var{sys})
-## Return the sampling time of the system @var{sys}.
-## @end deftypefn
-
-function T = sysgettsam (sys)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-
-  if (! isstruct (sys))
-    error ("sysgettsam: expecting argument to be system structure");
-  endif
-
-  T = sys.tsam;
-
-endfunction
--- a/scripts/control/system/sysgettype.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,53 +0,0 @@
-## Copyright (C) 1998, 2000, 2002, 2003, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} sysgettype (@var{sys})
-## return the initial system type of the system
-##
-## @strong{Input}
-## @table @var
-## @item sys
-## System data structure.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item systype
-## String indicating how the structure was initially
-## constructed. Values: @code{"ss"}, @code{"zp"}, or @code{"tf"}.
-## @end table
-##
-## @acronym{FIR} initialized systems return @code{systype="tf"}.
-## @end deftypefn
-
-function systype = sysgettype (sys)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-
-  if (! isstruct (sys))
-    error ("sysgettype: input sys is not a structure");
-  endif
-
-  typestr = {"tf", "zp", "ss"};
-  systype = typestr{sys.sys(1) + 1};
-
-endfunction
--- a/scripts/control/system/sysgroup.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,195 +0,0 @@
-## Copyright (C) 1996, 1998, 1999, 2000, 2002, 2003, 2004, 2005, 2006,
-##               2007 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{sys} =} sysgroup (@var{asys}, @var{bsys})
-## Combines two systems into a single system.
-##
-## @strong{Inputs}
-## @table @var
-## @item asys
-## @itemx bsys
-## System data structures.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item sys
-## @math{sys = @r{block diag}(asys,bsys)}
-## @end table
-## @example
-## @group
-##          __________________
-##          |    ________    |
-## u1 ----->|--> | asys |--->|----> y1
-##          |    --------    |
-##          |    ________    |
-## u2 ----->|--> | bsys |--->|----> y2
-##          |    --------    |
-##          ------------------
-##               Ksys
-## @end group
-## @end example
-## The function also rearranges the internal state-space realization of @var{sys}
-## so that the continuous states come first and the discrete states come last.
-## If there are duplicate names, the second name has a unique suffix appended
-## on to the end of the name.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-## modified by John Ingram July 1996
-## A. S. Hodel: modified for variable number of arguments 1999
-
-function sys = sysgroup (varargin)
-
-  if (nargin < 1)
-    print_usage ();
-  endif
-
-  ## collect all arguments
-  arglist = {};
-  for kk = 1:nargin
-    arglist(kk) = varargin{kk};
-    if (! isstruct (arglist{kk}))
-      error ("sysgroup: argument %d is not a data structure", kk);
-    endif
-  endfor
-
-  if (nargin == 2)
-    ## the usual case; group the two systems together
-    Asys = arglist{1};
-    Bsys = arglist{2};
-
-    ## extract information from Asys, Bsys to consruct sys
-    Asys = sysupdate (Asys, "ss");
-    Bsys = sysupdate (Bsys, "ss");
-    [n1, nz1, m1, p1] = sysdimensions (Asys);
-    [n2, nz2, m2, p2] = sysdimensions (Bsys);
-    [Aa, Ab, Ac, Ad, Atsam, An, Anz, Ast, Ain, Aout, Ayd] = sys2ss (Asys);
-    [Ba, Bb, Bc, Bd, Btsam, Bn, Bnz, Bst, Bin, Bout, Byd] = sys2ss (Bsys);
-    nA = An + Anz;
-    nB = Bn + Bnz;
-
-    if (p1*m1*p2*m2 == 0)
-      error ("sysgroup: argument lacks inputs and/or outputs");
-
-    elseif (Atsam + Btsam > 0 && Atsam * Btsam == 0)
-      warning ("sysgroup: creating combination of continuous and discrete systems")
-
-    elseif (Atsam != Btsam)
-      error ("sysgroup: Asys.tsam=%e, Bsys.tsam =%e", Atsam, Btsam);
-    endif
-
-    if (nA*nB > 0)
-      A12 = zeros (nA, nB);
-    else
-      A12 = [];
-    endif
-    A = [Aa, A12; A12', Ba];
-
-    if (nA*m2 > 0)
-      B12 = zeros (nA, m2);
-    else
-      B12 = [];
-    endif
-    if (nB*m1 > 0)
-      B21 = zeros (nB, m1);
-    else
-      B21 = [];
-    endif
-    if (isempty(Ab))
-      Ab = [];
-    endif
-    if (isempty (Bb))
-      Bb = [];
-    endif
-    B = [Ab, B12; B21, Bb];
-
-    if (p1*nB > 0)
-      C12 = zeros (p1, nB);
-    else
-      C12 = [];
-    endif
-    if (p2*nA > 0)
-      C21 = zeros (p2, nA);
-    else
-      C21 = [];
-    endif
-    C = [Ac, C12; C21, Bc];
-
-    if (p1*m2 > 0)
-      D12 = zeros (p1, m2);
-    else
-      D12 = [];
-    endif
-    if (p2*m1 > 0)
-      D21 = zeros (p2, m1);
-    else
-      D21 = [];
-    endif
-    D = [Ad, D12; D21, Bd];
-    tsam = max (Atsam, Btsam);
-
-    ## construct combined signal names; stnames must check for pure gain blocks
-    if (isempty (Ast))
-      stname = Bst;
-    elseif (isempty (Bst))
-      stname = Ast;
-    else
-      stname= __sysconcat__ (Ast, Bst);
-    endif
-    inname = __sysconcat__ (Ain, Bin);
-    outname = __sysconcat__ (Aout, Bout);
-
-    ## Sort states into continuous first, then discrete
-    dstates = ones (1, (nA+nB));
-    if (An)
-      dstates(1:(An)) = zeros (1, An);
-    endif
-    if (Bn)
-      dstates((nA+1):(nA+Bn)) = zeros (1, Bn);
-    endif
-    [tmp, pv] = sort (dstates);
-    A = A(pv,pv);
-    B = B(pv,:);
-    C = C(:,pv);
-    stname = stname (pv);
-
-    ## check for duplicate signal names
-    inname = __sysgroupn__ (inname, "input");
-    stname = __sysgroupn__ (stname, "state");
-    outname = __sysgroupn__ (outname, "output");
-
-    ## mark discrete outputs
-    outlist = find ([Ayd, Byd]);
-
-    ## build new system
-    sys = ss (A, B, C, D, tsam, An+Bn, Anz+Bnz, stname, inname, outname);
-
-  else
-    ## multiple systems (or a single system); combine together one by one
-    sys = arglist{1};
-    for kk = 2:length(arglist)
-      printf ("sysgroup: kk=%d\n", kk);
-      sys = sysgroup (sys, arglist{kk});
-    endfor
-  endif
-
-endfunction
--- a/scripts/control/system/sysidx.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,54 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} sysidx (@var{sys}, @var{sigtype}, @var{signamelist})
-## Return indices of signals with specified signal names
-## inputs given a system data structure @var{sys}, a signal type to be
-## selected @var{sigtype} (@code{"in"}, @code{"out"}, @code{"st"}), and
-## a list of desired signal names @var{signamelist}.
-## @end deftypefn
-
-function idxvec = sysidx (sys, sigtype, signamelist)
-
-  if (nargin != 3)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be a system data structure");
-  elseif (! ischar (sigtype))
-    error ("sigtype must be a string");
-  elseif (rows (sigtype) != 1)
-    [nr, nc] = size (sigtype);
-    error ("sigtype (%d x %d) must be a single string", nr, nc);
-  endif
-
-  ## extract correct set of signal names values
-  [idxvec, msg] = cellidx ({"in", "out", "st", "yd"}, sigtype);
-  if (msg)
-    error ("invalid sigtype = %s", sigtype);
-  endif
-
-  syssiglist = sysgetsignals (sys, sigtype);
-  [idxvec, msg] = cellidx (syssiglist, signamelist);
-  if (length (msg))
-    error ("sysidx (sigtype = %s): %s", sigtype,
-	   strrep (msg, "strlist", "signamelist"));
-  endif
-
-endfunction
--- a/scripts/control/system/sysmin.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,207 +0,0 @@
-## Copyright (C) 1996, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{retsys}, @var{nc}, @var{no}] =} sysmin (@var{sys}, @var{flg})
-## Returns a minimal (or reduced order) system
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## System data structure
-## @item flg
-## When equal to 0 (default value), returns minimal system,
-## in which state names are lost; when equal to 1, returns system
-## with physical states removed that are either uncontrollable or
-## unobservable (cannot reduce further without discarding physical
-## meaning of states).
-## @end table
-## @strong{Outputs}
-## @table @var
-## @item retsys
-## Returned system.
-## @item nc
-## Number of controllable states in the returned system.
-## @item no
-## Number of observable states in the returned system.
-## @item cflg
-## @code{is_controllable(retsys)}.
-## @item oflg
-## @code{is_observable(retsys)}.
-## @end table
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-
-function [retsys, nc, no, cflg, oflg] = sysmin (sys, flg)
-
-  switch (nargin)
-  case 1
-    flg = 0;
-  case 2
-    jnk = flg;    # dummy operation
-  otherwise,
-    print_usage ();
-  endswitch
-
-  dflg = is_digital (sys, 2);
-
-  [n, nz, m, p] = sysdimensions (sys);
-
-  if (n*nz > 0)
-    # both continuous and discrete states
-    [aa, bb, cc, dd, tsam, n, nz, stnam, innam, outnam, yd] = sys2ss (sys);
-    crng = 1:n;
-    drng = n+(1:nz);
-
-    # get minimal realization of continuous part
-    Ac  = aa(crng,crng);
-    Acd = aa(crng,drng);
-    Adc = aa(drng,crng);
-    Ad  = aa(drng,drng);
-    Bc  = bb(crng,:);
-    Bd  = bb(drng,:);
-    Cc  = cc(:,crng);
-    Cd  = cc(:,drng);
-
-    cstnam = stnam(crng);
-    dstnam = stnam(drng);
-    cinnam = __sysconcat__ (innam, stnam(drng));
-    coutnam = __sysconcat__ (outnam, stnam(drng));
-    csys = ss (Ac, [Bc, Acd], [Cc; Adc]);
-    csys = syssetsignals (csys, "st", cstnam);
-    csys = syssetsignals (csys, "in", cinnam);
-    csys = syssetsignals (csys, "out", coutnam);
-
-    # reduce continuous system, recombine with discrete part
-    csys = sysmin (csys, flg);
-    cn = sysdimensions (csys);
-
-    if (cn == 0)
-      # continuous states are removed; just reduce the discrete part
-      sys = sysprune (sys, 1:p, 1:m, drng);
-      retsys = sysmin (sys, flg);
-    else
-      # extract updated parameters from reduced continuous system
-      [caa, cbb, ccc, cdd, ctsam, cn, cnz, cstnam, cinnam, coutnam] ...
-	  = sys2ss (csys);
-
-      crng = 1:cn;
-      Ac  = caa;
-      Bc  = cbb(:,1:m);
-      Acd = cbb(:,m+(1:nz));
-      Cc  = ccc(1:p,:);
-      Adc = ccc(p + (1:nz),:);
-
-      # recombine to reduce discrete part of the system
-      dinnam = __sysconcat__ (innam, cstnam);
-      doutnam = __sysconcat__ (outnam, cstnam);
-      dsys = ss (Ad, [Bd, Adc], [Cd; Acd], [], tsam);
-      dsys = syssetsignals (dsys, "st", dstnam);
-      dsys = syssetsignals (dsys, "in", dinnam);
-      dsys = syssetsignals (dsys, "out", doutnam);
-
-      # reduce discrete subsystem
-      dsys = sysmin (dsys);
-      [n1, nz] = sysdimensions (dsys);
-      if (nz == 0)
-        # discrete subsystem is not needed
-        retsys = sysprune (csys, 1:p, 1:m);
-      else
-        # combine discrete, continuous subsystems
-        [Ad, dbb, dcc] = sys2ss (dsys);
-        dstnam = sysgetsignals (dsys, "st");
-        Bd  = dbb(:,1:m);
-        Adc = dbb(:,m+(1:cn));
-        Cd  = dcc(1:p,:);
-        Acd = dcc(p+(1:cn),:);
-        stnam = __sysconcat__ (cstnam, dstnam);
-        aa = [Ac, Acd; Adc, Ad];
-        bb = [Bc; Bd];
-        cc = [Cc, Cd];
-        retsys = ss ([Ac, Acd; Adc, Ad], [Bc ; Bd], [Cc, Cd], dd, tsam,
-		     cn, nz, stnam, innam, outnam, find(yd == 1));
-      endif
-    endif
-  else
-    Ts = sysgettsam (sys);
-    switch (flg)
-    case 0
-      ## reduce to a minimal system
-      [aa, bb, cc, dd] = sys2ss (sys);
-      [cflg, Uc] = is_controllable (aa, bb);
-      if (! cflg)
-        ## reduce to controllable states
-        if (! isempty (Uc))
-          aa = Uc'*aa*Uc;
-          bb = Uc'*bb;
-          cc = cc*Uc;
-        else
-          aa = bb = cc = [];
-        endif
-      endif
-      if (! isempty (aa))
-        [oflg, Uo] = is_observable (aa, cc);
-        if (! oflg)
-          if (! isempty (Uo))
-            aa = Uo'*aa*Uo;
-            bb = Uo'*bb;
-            cc = cc*Uo;
-          else
-            aa = bb = cc = [];
-          endif
-        endif
-      endif
-      switch (dflg)
-      case 0
-        nc = no = nn = columns (aa);
-        nz = 0;
-      case 1
-        nc = no = nz = columns (aa);
-        nn = 0;
-      endswitch
-      innam = sysgetsignals (sys, "in");
-      outnam= sysgetsignals (sys, "out");
-      retsys = ss (aa, bb, cc, dd, Ts, nn, nz, [], innam, outnam);
-    case 1
-      ## reduced model with physical states
-      [cflg, Uc] = is_controllable (sys);
-      xc = find (max (abs (Uc')) != 0);
-      [oflg, Uo] = is_observable (sys);
-      xo = find (max (abs (Uo')) != 0);
-      xx = intersection (xc, xo);
-      ## signal no states in reduced model
-      if (isempty (xx))
-	xx = 0;
-      endif
-      retsys = sysprune (sys, [], [], xx);
-    otherwise
-      error ("invalid value of flg = %d", flg);
-    endswitch
-    if (sysdimensions (retsys, "st") > 0)
-      [cflg, Uc] = is_controllable (retsys);
-      nc = columns (Uc);
-      [oflg, Uo] = is_observable (retsys);
-      no = columns (Uo);
-    else
-      nc = no = 0;
-    endif
-  endif
-
-endfunction
--- a/scripts/control/system/sysmult.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,121 +0,0 @@
-## Copyright (C) 1996, 1999, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{sys} =} sysmult (@var{Asys}, @var{Bsys})
-## Compute @math{sys = Asys*Bsys} (series connection):
-## @example
-## @group
-## u   ----------     ----------
-## --->|  Bsys  |---->|  Asys  |--->
-##     ----------     ----------
-## @end group
-## @end example
-## A warning occurs if there is direct feed-through from an input
-## or a continuous state of @var{Bsys}, through a discrete output
-## of @var{Bsys}, to a continuous state or output in @var{Asys}
-## (system data structure does not recognize discrete inputs).
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: July 1996
-## updated for variable number of arguments by A. S. Hodel July 1999
-
-function sys = sysmult (varargin)
-
-  if (nargin < 1)
-    print_usage ();
-  endif
-
-  ## collect all arguments
-  arglist = {};
-  for kk = 1:nargin
-    arglist{kk} = varargin{kk};
-    if (! isstruct (arglist{kk}))
-      error ("sysadd: argument %d is not a data structure", kk);
-    endif
-  endfor
-
-  ## check system dimensions
-  [n, nz, mg, pg, Gyd] = sysdimensions (arglist{1});
-  for kk = 2:nargin
-    [n, nz, mh, ph, Hyd] = sysdimensions (arglist{kk});
-    if(ph != mg)
-      error ("arg %d has %d outputs; arg %d has %d inputs", kk, ph, kk-1, mg);
-    endif
-    [n, nz, mg, pg, Gyd] = sysdimensions (arglist{kk});   # for next iteration
-  endfor
-
-  ## perform the multiply
-  if (nargin == 2)
-    Asys = arglist{1};
-    Bsys = arglist{2};
-
-    [An, Anz, Am, Ap] = sysdimensions (Asys);
-    [Bn, Bnz, Bm, Bp] = sysdimensions (Bsys);
-
-    [Aa, Ab, Ac, Ad, Atsam, An, Anz, ...
-     Astname, Ainname, Aoutname, Ayd] = sys2ss(Asys);
-
-    [Ba, Bb, Bc, Bd, Btsam, Bn, Bnz, ...
-     Bstname, Binname, Boutname, Byd] = sys2ss(Bsys);
-
-    if (Byd)
-      ## check direct feed-through of inputs through discrete outputs
-      alist = find (Byd);
-      if (An)
-        bd = Ab(1:An) * Bd(alist,:);
-        if (norm (bd, 1))
-          warning ("sysmult: inputs -> Bsys discrete outputs -> continuous states of Asys");
-        endif
-      endif
-      ## check direct feed-through of continuous state through discrete outputs
-      if (Bn)
-        bc = Ab(1:An) * Bc(alist,1:(Bn));
-        if (norm (bc, 1))
-          warning ("sysmult: Bsys states -> Bsys discrete outputs -> continuous states of Asys");
-        endif
-      endif
-    endif
-
-    ## change signal names to avoid spurious warnings from sysgroup
-    Asys = syssetsignals (Asys, "in",
-			  __sysdefioname__ (Am, "A_sysmult_tmp_name"));
-
-    Bsys = syssetsignals (Bsys, "out",
-			  __sysdefioname__ (Bp, "B_sysmult_tmp_name"));
-
-    sys = sysgroup (Asys, Bsys);
-
-    ## connect outputs of B to inputs of A
-    sys = sysconnect (sys, Ap+(1:Bp), 1:Am);
-
-    ## now keep only  outputs of A and inputs of B
-    sys = sysprune (sys, 1:Ap, Am+(1:Bm));
-
-  else
-    ## multiple systems (or a single system); combine together one by one
-    sys = arglist{1};
-    for kk = 2:length(arglist)
-      sys = sysmult (sys, arglist{kk});
-    endfor
-  endif
-
-endfunction
-
--- a/scripts/control/system/sysout.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,156 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} sysout (@var{sys}, @var{opt})
-## print out a system data structure in desired format
-## @table @var
-## @item  sys
-## system data structure
-## @item  opt
-## Display option
-## @table @code
-## @item []
-## primary system form (default)
-## @item      "ss"
-## state space form
-## @item      "tf"
-## transfer function form
-## @item      "zp"
-## zero-pole form
-## @item      "all"
-## all of the above
-## @end table
-## @end table
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: 1995-1996
-
-function retsys = sysout (sys, opt)
-
-  if (nargin < 1 || nargin > 2)
-    print_usage ();
-  endif
-
-  if (isempty (sys))
-    retsys = sys;
-    error ("sysout: empty system")
-    return;
-  endif
-
-  if (! isstruct (sys))
-    error ("sysout: input must be a system structure")
-  endif
-
-  ## set up output type array
-  if (nargin == 1)
-    opt = sysgettype (sys);
-  elseif (! (strcmp (opt, "ss") || strcmp (opt, "tf")
-	     || strcmp (opt, "zp") || strcmp (opt, "all")))
-    error ("opt must be one of [], \"ss\", \"tf\", \"zp\", or \"all\"");
-  endif
-
-  ## now check output for each form:
-  [nn, nz, mm, pp] = sysdimensions(sys);
-  if (mm > 0)
-    disp ("Input(s)")
-    disp (__outlist__ (sysgetsignals (sys, "in"), "      "));
-  else
-    disp ("Input(s): none");
-  endif
-  if (pp > 0)
-    disp ("Output(s):")
-    disp (__outlist__ (sysgetsignals (sys, "out"),
-		       "     ", sysgetsignals (sys, "yd")) );
-  else
-    disp ("Output(s): none");
-  endif
-  if (sysgettsam (sys) > 0)
-    printf ("Sampling interval: %g\n", sysgettsam (sys));
-    str = "z";
-  else
-    str = "s";
-  endif
-
-  ## transfer function form
-  if (strcmp (opt, "tf") || strcmp (opt, "all"))
-    sys = sysupdate (sys, "tf");          #make sure tf is up to date
-    disp ("transfer function form:")
-    [num, den] = sys2tf (sys);
-    tfout (num, den, str);
-  endif
-
-  if (strcmp(opt, "zp") || strcmp(opt, "all"))
-    sys = sysupdate (sys, "zp");          #make sure zp is up to date
-    disp("zero-pole form:")
-    [zer, pol, kk] = sys2zp (sys);
-    zpout (zer, pol, kk, str)
-  endif
-
-  if (strcmp(opt, "ss") || strcmp(opt, "all"))
-    sys = sysupdate (sys, "ss");
-    disp ("state-space form:");
-    printf ("%d continuous states, %d discrete states\n", nn, nz);
-    if (nn+nz > 0)
-      disp ("State(s):")
-      xi = (nn+1):(nn+nz);
-      xd = zeros (1, nn+nz);
-      if (! isempty (xi))
-        xd(xi) = 1;
-      endif
-      disp (__outlist__ (sysgetsignals (sys, "st"), "    ", xd));
-    else
-      disp ("State(s): none");
-    endif
-
-    ## display matrix values?
-    dmat = (max ([nn+nz, mm, pp]) <= 32);
-
-    printf ("A matrix: %d x %d\n", sysdimensions (sys, "st"),
-            sysdimensions (sys, "st"));
-    [aa, bb, cc, dd] = sys2ss (sys);
-    if (dmat)
-      disp (aa);
-    endif
-
-    printf ("B matrix: %d x %d\n", sysdimensions (sys, "st"),
-            sysdimensions (sys, "in"));
-    if (dmat)
-      disp (bb);
-    endif
-
-    printf ("C matrix: %d x %d\n", sysdimensions (sys, "out"),
-            sysdimensions (sys, "st"));
-    if (dmat)
-      disp (cc);
-    endif
-
-    printf("D matrix: %d x %d\n", sysdimensions (sys, "out"),
-           sysdimensions (sys, "in"));
-    if (dmat)
-      disp (dd);
-    endif
-  endif
-
-  if (nargout >= 1)
-    retsys = sys;
-  endif
-
-endfunction
--- a/scripts/control/system/sysprune.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,186 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{retsys} =} sysprune (@var{asys}, @var{out_idx}, @var{in_idx})
-## Extract specified inputs/outputs from a system
-##
-## @strong{Inputs}
-## @table @var
-## @item asys
-## system data structure
-## @item out_idx
-## @itemx in_idx
-## Indices or signal names of the outputs and inputs to be kept in the returned
-## system; remaining connections are ``pruned'' off.
-## May select as [] (empty matrix) to specify all outputs/inputs.
-##
-## @example
-## retsys = sysprune (Asys, [1:3,4], "u_1");
-## retsys = sysprune (Asys, @{"tx", "ty", "tz"@}, 4);
-## @end example
-##
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item retsys
-## Resulting system.
-## @end table
-## @example
-## @group
-##            ____________________
-## u1 ------->|                  |----> y1
-##  (in_idx)  |       Asys       | (out_idx)
-## u2 ------->|                  |----| y2
-##   (deleted)-------------------- (deleted)
-## @end group
-## @end example
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-## Updated by John Ingram 7-15-96
-
-function sys = sysprune (sys, output_idx, input_idx, state_idx)
-
-  if (nargin < 3 || nargin > 4)
-    print_usage ();
-  elseif (nargin < 4)
-    state_idx = [];
-  endif
-
-  ## default: no action
-  [nn, nz, mm, pp] = sysdimensions (sys);
-  if (isempty (output_idx))
-    output_idx = 1:pp;
-  endif
-  if (isempty (input_idx))
-    input_idx = 1:mm;
-  endif
-  if (isempty (state_idx))
-    state_idx = 1:(nn+nz);
-  endif
-
-  ## check for signal names
-  if (is_signal_list (output_idx) || ischar (output_idx))
-    output_idx = sysidx (sys, "out", output_idx);
-  endif
-  if (is_signal_list (input_idx) || ischar (input_idx))
-    input_idx = sysidx (sys, "in", input_idx);
-  endif
-
-  ## check dimensions
-  if (! (isvector (output_idx) || isempty (output_idx)))
-    if (! ismatrix (output_idx))
-      error ("sysprune: bad argument passed for output_idx");
-    else
-      error ("sysprune: output_idx (%d x %d) must be a vector or empty",
-             rows (output_idx), columns (output_idx));
-    endif
-  elseif (is_duplicate_entry (output_idx))
-     error ("sysprune: duplicate entries found in output_idx");
-  endif
-
-  if (! (isvector (input_idx) || isempty (input_idx)))
-    if (! ismatrix (input_idx))
-      error ("sysprune: bad argument passed for input_idx");
-    else
-      error ("sysprune: input_idx (%d x %d) must be a vector or empty",
-             rows (input_idx), columns(input_idx));
-    endif
-  elseif (is_duplicate_entry (input_idx))
-     error ("sysprune: duplicate entries found in input_idx");
-  endif
-
-  if (! (isvector (state_idx) || isempty (state_idx)))
-    if (! ismatrix (state_idx))
-      error ("sysprune: bad argument passed for state_idx");
-    else
-      error ("sysprune: state_idx (%d x %d) must be a vector or empty",
-             rows (state_idx), columns (state_idx));
-    endif
-  elseif (nn+nz > 0)
-    if (is_duplicate_entry (state_idx))
-      error ("sysprune: duplicate entries found in state_idx");
-    endif
-  endif
-
-  lo = length (output_idx);
-  li = length (input_idx);
-  lst = length (state_idx);
-
-  if (! isstruct (sys))
-    error ("Asys must be a system data structure (see ss, tf, or zp)");
-  elseif (pp < lo)
-    error("%d output_idx entries, system has only %d outputs", lo, pp);
-  elseif (mm < li)
-    error("%d input_idx entries, system has only %d inputs", li, mm);
-  elseif (nn+nz < lst)
-    error("%d state_idx entries, system has only %d states", lst, nn+nz);
-  endif
-
-  [aa, bb, cc, dd, tsam, nn, nz, stnam, innam, outnam, yd] = sys2ss (sys);
-
-  ## check for valid state permutation
-  if (nn & nz)
-    c_idx = find (state_idx <= nn);
-    if (! isempty (c_idx))
-      max_c = max (c_idx);
-    else
-      max_c = 0;
-    endif
-    d_idx = find (state_idx > nn);
-    if (! isempty (d_idx))
-      min_d = min (d_idx);
-    else
-      min_d = nn+nz;
-    endif
-    if (max_c > min_d)
-      warning ("sysprune: state_idx(%d)=%d (discrete) preceeds",
-               min_d, state_idx(min_d));
-      warning("          state_idx(%d)=%d (continuous)",
-              max_c, state_idx(max_c));
-      warning ("sysprune: sys has %d continuous states, %d discrete states",
-               nn, nz);
-      error("continuous/discrete state partition not preserved; see ss");
-    endif
-  endif
-
-  idx = input_idx;
-  odx = output_idx;
-  if (isempty (state_idx))
-    idx = [];
-    odx = [];
-  endif
-  aa = aa(state_idx,state_idx);
-  bb = bb(state_idx,idx);
-  cc = cc(odx,state_idx);
-  dd = dd(output_idx,input_idx);
-  yd = yd(output_idx);
-
-  innam  = innam(input_idx);
-  outnam = outnam(output_idx);
-  stnam = stnam(state_idx);
-  nn1 = length (find (state_idx <= nn));
-  nz1 = length (find (state_idx > nn));
-
-  sys = ss (aa, bb, cc, dd, tsam, nn1, nz1, stnam, innam, outnam, find (yd));
-
-endfunction
--- a/scripts/control/system/sysreorder.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,71 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{pv} =} sysreorder (@var{vlen}, @var{list})
-##
-## @strong{Inputs}
-## @table @var
-## @item vlen
-## Vector length.
-## @item list
-## A subset of @code{[1:vlen]}.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item pv
-## A permutation vector to order elements of @code{[1:vlen]} in
-## @code{list} to the end of a vector.
-## @end table
-##
-## Used internally by @code{sysconnect} to permute vector elements to their
-## desired locations.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-
-function pv = sysreorder (vlen, list)
-
-  if (nargin != 2)
-    print_usage ();
-  endif
-
-  ## disp('sysreorder: entry')
-
-  pv = 1:vlen;
-  ## make it a row vector
-  list = reshape(list,1,length(list));
-  A = pv' * ones (size (list));
-  B = ones (size (pv')) * list;
-  X = (A != B);
-  if (! isvector (X))
-    y = min (X');
-  else
-   y = X';
-  endif
-  z = find (y == 1);
-  if (! isempty (z))
-    pv = [z, list];
-  else
-    pv = list;
-  endif
-
-endfunction
--- a/scripts/control/system/sysrepdemo.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,496 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} sysrepdemo
-## Tutorial for the use of the system data structure functions.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: June 1995
-## Revised Aug 1995 for system data structure format
-
-function sysrepdemo ()
-
-  save_val = page_screen_output ();
-  page_screen_output (1);
-
-  disp("System representation demo:")
-  num = [5, -1];
-  denom = [1, -2, 6];
-  a = b = c = [];
-  syschoice = -1;
-  ch_init = 2;
-  ch_extract = ch_init+1;
-  ch_update = ch_extract+1;
-  ch_view = ch_update+1;
-  ch_details = ch_view+1;
-  ch_quit = ch_details+1;
-  while(syschoice != ch_quit)
-   disp(" ")
-    syschoice = menu("Octave System Representation Menu", ...
-      "General overview of system representation (DO THIS FIRST)", ...
-      "Initialize a system (ss, tf, zp)", ...
-      "Extract data from a system(sys2ss, sys2tf, sys2zp, etc.)", ...
-      "Update internal representation (sysupdate)", ...
-      "View the internal contents of a system (sysout)", ...
-      "Details of internal representation", ...
-      "Return to main menu");
-    if(syschoice == 1)  # general overview
-      disp("The Octave Control Systems Toolbox (OCST) was designed to")
-      disp("provide a simple user interface to a powerful set of tools.")
-      disp(" ")
-      disp("               ----------")
-      disp(" input(s) ---->| System | ---> output(s) ")
-      disp("               ----------")
-      disp(" ")
-      disp("Like other computer-aided control system design tools, the OCST")
-      disp("enables users to enter their descriptions of dynamic systems in ")
-      disp("their preferred form (state space, transfer function, or ");
-      disp("zero-pole format).  ");
-      disp("The OCST stores system descriptions in a single variable data ");
-      disp("structure that allows for continuous time, discrete-time, or mixed ");
-      disp("(sampled-data) systems.  ");
-      disp(" ");
-      disp("This single variable description of dynamic systems greatly simplifies ");
-      disp("both the code of the OCST as well as the user interface, since only")
-      disp("one variable is passed per system, regardless of the  internal ")
-      disp("representation used in the data structure.  As a result, the ");
-      disp("likelihood of user error is greatly reduced when calling OCST")
-      disp("functions.  Further, all OCST functions have been written to")
-      disp("provide meaningful warning or error message to assist the user")
-      disp("in correcting their programming errors while using the OCST.")
-      disp("The details of the internal representation can be seen in ");
-      disp(["menu option ",num2str(ch_details)]);
-      disp("The data structure used in the OCST is called a \"system data structure.\"");
-      disp("A system data structure is contstructed with one of:")
-      disp("   fir (FIR transfer function to system)")
-      disp("   ss (state space matrices to system)")
-      disp("   tf (SISO transfer function to system)")
-      disp("   zp (SISO zero/pole/leading coefficient to system)")
-      disp(" ")
-      disp(["These functions are discussed in in menu option ",num2str(ch_init)])
-      disp("The data in a system may be extracted using ")
-      disp("   sys2fir (FIR transfer function from system")
-      disp("   sys2ss (state space matrices from system)")
-      disp("   sys2tf (SISO transfer function from system)")
-      disp("   sys2zp (SISO zero/pole/leading coefficient from system)")
-      disp(" ")
-      disp(["These functions are discussed in menu option ", ...
-        num2str(ch_extract)]);
-      disp("Other options discussed under this menu are updating the internal")
-      disp("representation form of a system data structure with sysupdate and printing")
-      disp("the description of a dynamic system to the screen with sysout.")
-      disp(" ")
-      disp("Once the user is familiar with these commands, the rest of the ")
-      disp("OCST package will be quite easy to use.")
-    elseif(syschoice == ch_init) % Initialize
-      disp("Initialization of a system:");
-      disp(" ");
-      formopt = 0;
-      while(formopt != 4)
-      disp("Three data formats may be used to initialize a system:")
-        formopt = menu("System data structure initialization menu", ...
-                "State space form       (ss)", ...
-                "Transfer function form (tf)", ...
-                "zero-pole form         (zp)", ...
-                "Return to System representation menu");
-        if(formopt == 1)
-          disp("State space representation of a system is based on the usual")
-          disp("multi-variable differential equations")
-          disp(" ")
-          disp("  . ")
-          disp("  x = A x + B u      -or -   x(k+1) = A x(k) + B u(k) ")
-          disp("  y = C x + D u                y(k) = C x(k) + D u(k) ")
-          disp(" ")
-          disp("for matrices A, B, C, D of appropriate dimension.")
-          disp(" ")
-          ssopt = 0;
-          ssquit = 5;
-          while(ssopt < ssquit)
-            ssopt = menu("State space initialization examples", ...
-                "Double integrator example", ...
-                "Double delay (discrete-time) example", ...
-                "Summing junction (D-matrix only) example", ...
-                "ss details (help ss)", ...
-                "return to system initialization menu", ...
-                "return to system representation main menu");
-            if(ssopt == 1)
-              disp("Example: construct a system representation of a")
-              disp("double integrator via state-space form")
-              cmd = "a = [0, 1; 0, 0];";
-              run_cmd
-              cmd = "b = [0; 1];";
-              run_cmd
-              cmd = "c = [1, 0];";
-              run_cmd
-              cmd = "sys = ss(a,b,c);";
-              run_cmd
-              disp("The state space form of the system is seen via sysout:")
-              cmd = "sysout(sys)";
-              run_cmd
-              disp("Notice that the Octave controls  toolbox automatically")
-              disp("assigns names to the states, inputs and outputs,")
-              disp("and that the D matrix was filled in automatically.")
-              disp("We verify that it's a double integrator via sysout:")
-              cmd = "sysout(sys,""tf"")";
-              run_cmd
-              prompt
-            elseif(ssopt == 2)
-              disp("Example: discrete-time double-delay:")
-              disp("This example is identical to the double-integrator,")
-              disp("except that it is a discrete-time system, and so has")
-              disp("a sampling interval.  We arbitrarily select T=1e-3.");
-              cmd = "a = [0, 1; 0, 0];";
-              run_cmd
-              cmd = "b = [0; 1];";
-              run_cmd
-              cmd = "c = [1, 0];";
-              run_cmd
-              cmd = "sys=ss(a,b,c,[],1e-3);";
-              run_cmd
-              cmd = "sysout(sys)";
-              run_cmd
-              disp("Notice that the D matrix was filled in automatically.")
-              disp("This is done if D is input as the empty matrix.")
-              disp(" ")
-              disp("Notice also that the output y_1 is labelled as a discrete")
-              disp("output.  The OCST data structure keeps track of states")
-              disp("and output signals that are produced by the discrete-time")
-              disp("portion of a system.  Discrete states and outputs are ")
-              disp("implemented as shown in the block diagram below:")
-              disp(" ")
-              disp(" ")
-              disp("       _________   ________ x(kT)  ________________")
-              disp("f(t)-->|sampler|-->| delay |----->|zero order hold| -->")
-              disp("       ---------   --------        ----------------")
-              disp(" ")
-              disp("        ___________    _______________")
-              disp("f(t)-->| sampler |-->|zero-order hold| --> y(discrete)")
-              disp("        -----------    ---------------")
-              disp(" ")
-              disp("where f(t) is an input signal to either the output or the")
-              disp(" discrete state.")
-              disp(" ")
-              disp("The OCST does not implement samplers on inputs to continuous")
-              disp("time states (i.e., there are no samplers implicit in the B")
-              disp("or D matrices unless there are corresponding discrete")
-              disp("outputs or states.  The OCST provides warning messages when")
-              disp("if this convention is violated.")
-              prompt
-            elseif(ssopt == 3)
-              disp("A summing junction that computes e(t) = r(t) - y(t) may be");
-              disp("constructed as follows:");
-              disp("First, we set the matrix D:")
-              cmd = "D = [1, -1];";
-              run_cmd
-              disp("ss allows the initialization of signal and state names")
-              disp("(see option 4), so we initialize these as follows:")
-              cmd = "inname = {\"r(t)\",\"y(t)\"};";
-              run_cmd;
-              cmd = "outname = \"e(t)\";";
-              run_cmd
-              disp("Since the system is continuous time and without states,")
-              disp("the ss inputs tsam, n, and nz are all zero:")
-              cmd = "sys = ss([],[],[],D,0,0,0,[],inname,outname);";
-              run_cmd
-              disp("The resulting system is:")
-              cmd = "sysout(sys)";
-              run_cmd
-              disp("A discrete-time summing block can be implemented by setting")
-              disp("the sampling time positive:")
-              cmd = "sys = ss([],[],[],D,1e-3,0,0,[],inname,outname);";
-              run_cmd
-              disp("The resulting system is:")
-              cmd = "sysout(sys)";
-              run_cmd
-              prompt
-            elseif(ssopt == 4)
-              help ss
-              disp(" ")
-              disp(" ")
-              disp("Notice that state-space form allows a single system to have")
-              disp("both continuous and discrete-time states and to have both continuous")
-              disp("and discrete-time outputs.  Since it's fairly easy to make an")
-              disp("error when mixing systems of this form, the Octave controls")
-              disp("toolbox attempts to print warning messages whenever something")
-              disp("questionable occurs.")
-            elseif(ssopt == 6)
-              formopt = 4;              # return to main menu
-            endif
-          endwhile
-        elseif(formopt == 2)
-          tfopt = 0;
-          while(tfopt < 5)
-            tfopt = menu("Transfer function initialization menu", ...
-                "Continuous time initialization" , ...
-                "Discrete time initialization" , ...
-                "User specified signal names" , ...
-                "tf details (help tf)", ...
-                "Return to system initialization menu", ...
-                "Return to system representation main menu");
-            if(tfopt == 1) # continuous time
-              disp("A transfer function is represented by vectors of the")
-              disp("coefficients of the numerator and denominator polynomials");
-              disp(" ")
-              disp("For example: the transfer function");
-              disp(" ");
-              num = [5, -1];
-              denom = [1, -2, 6];
-              tfout(num,denom);
-              disp(" ")
-              disp("is generated by the following commands:")
-              cmd = "num = [5, -1]";
-              run_cmd
-              cmd = "denom = [1, -2, 6]";
-              run_cmd
-              cmd = "sys = tf(num,denom);";
-              run_cmd
-              disp("alternatively, the system can be generated in a single command:");
-              cmd = "sys = tf([5, -1], [1, -2, 6]);";
-              run_cmd
-              disp("Notice the output of sys: it is an Octave data structure.")
-              disp("The details of its member variables are explained under")
-              disp("System Representation Menu option 5 (the details of system form)")
-              disp(" ");
-              disp("The data structure can be observed with the sysout command:")
-              cmd = "sysout(sys)";
-              run_cmd
-              disp("Notice that Octave assigns names to inputs and outputs.")
-              disp("The user may manually select input and output names; see option 3");
-              prompt
-            elseif(tfopt == 2) # discrete time
-              disp("A transfer function is represented by vectors of the")
-              disp("coefficients of the numerator and denominator polynomials");
-              disp("Discrete-time transfer functions require ")
-              disp("the additional parameter of a sampling period:")
-              cmd = "sys=tf([5, -1], [1, 2, -6], 1e-3);";
-              run_cmd
-              cmd = "sysout(sys)";
-              run_cmd
-              disp("The OCST recognizes discrete-time transfer functions and")
-              disp("accordingly prints them with the frequency domain variable z.");
-              disp("Notice that Octave assigns names to inputs and outputs.")
-              disp("The user may set input and output names; see option 3");
-            elseif(tfopt == 3) # user specified names
-              disp("The OCST requires all signals to have names.  The OCST assigned default");
-              disp("names to the signals in the other examples.  We may initialize a transfer");
-              disp("function with user-specified names as follows: Consider a simple ")
-              disp("double-integrator model of aircraft roll dynamics with ")
-              disp("input \"aileron angle\" and output \"theta\".  A ")
-              disp("system for this model is generated by the command")
-              cmd = "aircraft=tf(1, [1, 0, 0], 0,\"aileron angle\",\"theta\");";          run_cmd
-              disp("The sampling  time parameter 0 indicates that the system")
-              disp("is continuous time.  A positive sampling time indicates a")
-              disp("discrete-time system (or sampled data system).")
-              cmd = "sysout(aircraft)";
-              run_cmd
-              disp("Notice that the user-selected signal names are listed.")
-              disp("These signal names are used in OCST plots and design functions.");
-              disp("(Run the frequency response demo to see an example of the use of ");
-              disp("signal names in plots.)")
-              prompt
-            elseif(tfopt == 4) # help
-              help  tf
-              prompt
-            elseif(tfopt == 6) # return to main menu
-              formopt = 4;
-            endif
-          endwhile
-        elseif (formopt == 3)
-          zpopt = 0;
-          while(zpopt < 5)
-            zpopt = menu("Zero-pole initialization menu", ...
-                "Continuous time initialization" , ...
-                "Discrete time initialization" , ...
-                "User specified signal names" , ...
-                "zp details (help zp)", ...
-                "Return to system initialization menu", ...
-                "Return to system representation main menu");
-            if(zpopt == 1) # continuous time
-              disp("A zero-pole form representation of a system includes vectors")
-              disp("of the system poles and zeros and a scalar leading coefficient.");
-              disp(" ")
-              disp("For example: the transfer function");
-              disp(" ");
-              k = 5;
-              num = [5, -1];
-              denom = [1, -2, 6];
-              zpout(num,denom,k);
-              disp(" ")
-              disp("is generated by the following commands:")
-              cmd = "num = [5, -1]";
-              run_cmd
-              cmd = "denom = [1, -2, 6]";
-              run_cmd
-              cmd = "k = 5";
-              run_cmd
-              cmd = "sys = zp(num,denom,k);";
-              run_cmd
-              disp("alternatively, the system can be generated in a single command:");
-              cmd = "sys = zp([5, -1],[1, -2, 6],5);";
-              run_cmd
-              disp("Notice the output of sys: it is an Octave data structure.")
-              disp("The details of its member variables are explained under")
-              disp("System Representation Menu option 5 (the details of system form)")
-              disp(" ");
-              disp("The data structure can be observed with the sysout command:")
-              cmd = "sysout(sys)";
-              run_cmd
-              disp("Notice that Octave assigns names to inputs and outputs.")
-              disp("The user may manually select input and output names; see option 3");
-              prompt
-            elseif(zpopt == 2) # discrete time
-              disp("A zero-pole form representation of a system includes vectors")
-              disp("of the system poles and zeros and a scalar leading coefficient.");
-              disp(" ")
-              disp("Discrete-time systems require the additional parameter of a sampling period:")
-              cmd = "sys=zp([5, -1],[1, 2, -6],5,1e-3);";
-              run_cmd
-              cmd = "sysout(sys)";
-              run_cmd
-              disp("The OCST recognizes discrete-time transfer functions and")
-              disp("accordingly prints them with the frequency domain variable z.");
-              disp("Notice that Octave assigns names to inputs and outputs.")
-              disp("The user may set input and output names; see option 3");
-            elseif(zpopt == 3) # user specified names
-              disp("The OCST requires all signals to have names.  The OCST assigned default");
-              disp("names to the signals in the other examples.  We may initialize a transfer");
-              disp("function with user-specified names as follows: Consider a simple ")
-              disp("double-integrator model of aircraft roll dynamics with ")
-              disp("input \"aileron angle\" and output \"theta\".  A ")
-              disp("system for this model is generated by the command")
-              cmd = "aircraft=zp([],[0, 0],1,0,\"aileron angle\",\"theta\");";            run_cmd
-              disp("The sampling  time parameter 0 indicates that the system")
-              disp("is continuous time.  A positive sampling time indicates a")
-              disp("discrete-time system (or sampled data system).")
-              cmd = "sysout(aircraft)";
-              run_cmd
-              disp("Notice that the user-selected signal names are listed.")
-              disp("These signal names are used in OCST plots and design functions.");
-              disp("(Run the frequency response demo to see an example of the use of ");
-              disp("signal names in plots.)")
-              prompt
-            elseif(zpopt == 4) # help
-              help  zp
-              prompt
-            elseif(zpopt == 6) # return to main menu
-              formopt = 4;
-            endif
-          endwhile
-        endif
-      endwhile
-    elseif(syschoice == ch_extract)  # extract system information
-      disp("Extract information from a system data structure in a selected format:")
-      disp("The actions of operations ss, tf, and zp are reversed by")
-      disp("respective functions sys2ss, sys2tf, and sys2zp.  The latter two");
-      disp("functions are applicable only to SISO systems.")
-      formopt = 0;
-      while(formopt != 8)
-        formopt = menu("Extract system information", ...
-                "in state space form       (sys2ss)", ...
-                "in transfer function form (sys2tf)", ...
-                "in zero pole form         (sys2zp)", ...
-                "signal names       (sysgetsignals,syssetsignals)", ...
-                "sampling time         (sysgettsam)", ...
-                "signal dimensions  (sysdimensions)", ...
-                "primary system type   (sysgettype)", ...
-                "Return to system representation menu");
-        if(formopt == 1)
-          help sys2ss
-        elseif(formopt == 2)
-          help sys2tf
-        elseif(formopt == 3)
-          help sys2zp
-        elseif(formopt == 4)
-          help sysgetsignals
-          cmd="sys=ss(rand(4),rand(4,2),rand(3,4));";
-          run_cmd
-          printf("Example: All signals names can be extracted by\n");
-          cmd = "[Ast,Ain,Aout,Ayd] = sysgetsignals(sys)";
-          run_cmd
-          printf("Example: Input signal names can be extracted as\n");
-          cmd = "Ain = sysgetsignals(sys,\"in\")";
-          run_cmd
-          printf("Example: The name of output signal 2 can be extracted as\n");
-          cmd = "Aout = sysgetsignals(sys,\"out\",2)";
-          run_cmd
-          printf("\nNotice that Aout is returned as a cell array; the signal name\n");
-          printf("itself is obtained by specifying the input parameter strflg\n");
-          cmd = "Aout = sysgetsignals(sys,\"out\",2,1)";
-          run_cmd
-          prompt
-          cmd = "help syssetsignals";
-          run_cmd
-          printf("Example: set input 2 name to \"motor voltage\"\n");
-          cmd = "sys = syssetsignals(sys,\"in\",\"motor voltage\",2); sysout(sys)";
-          run_cmd
-
-          printf("Other syssetsignals demos are in the Block diagram demo program bddemo\n");
-        elseif(formopt == 5)
-          help sysgettsam
-        elseif(formopt == 6)
-          help sysdimensions
-        elseif(formopt == 7)
-          help sysgettype
-        endif
-        prompt
-      endwhile
-    elseif(syschoice== ch_update)
-      disp("The OCST system data structure format will store a system in the same format")
-      disp("as that with which it was initialized.  For example, consider the following:")
-      cmd = "sys=zp([1, 2],[3, 4, 5],6)";
-      run_cmd
-      disp(" ")
-      disp("Notice the internal variables in the structure include zer, pol, and k,")
-      disp("the required variables for zero-pole form.  We can update the system")
-      disp("to include state-space form as follows:")
-      cmd = "sys = sysupdate(sys,\"ss\")";
-      run_cmd
-      disp(" ")
-      disp("Now the sys data structure includes variables a, b, c, and d, as well")
-      disp("the default state names stname.  sysupdate is usually used internally in")
-      disp("the OCST, but can be used manually if desired.  A full description of")
-      disp("sysupdate is as follows:")
-      help sysupdate
-      prompt
-    elseif(syschoice == ch_view)
-      disp("The sysout command can be used to view a system in any desired format.")
-      disp("For example, consider the system created as follows:")
-      cmd = "aircraft=zp(1,[0, 0],1,0,\"aileron angle\",\"theta\");";             run_cmd
-      disp("The system may be viewed in its default format (zero-pole) as follows")
-      cmd = "sysout(aircraft)";
-      run_cmd
-      disp(" ")
-      disp("The system may be viewed in state-space or transfer function form as well:")
-      cmd = "sysout(aircraft,\"ss\")";
-      run_cmd
-      cmd = "sysout(aircraft,\"tf\")";
-      run_cmd
-      disp("A complete description of sysout is below:")
-      help sysout
-      prompt
-    elseif(syschoice == ch_details)
-      packedform
-    endif
-
-  endwhile
-  page_screen_output (save_val);
-endfunction
-
--- a/scripts/control/system/sysscale.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,156 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{retsys} =} sysscale (@var{sys}, @var{outscale}, @var{inscale}, @var{outname}, @var{inname})
-## scale inputs/outputs of a system.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## Structured system.
-## @item outscale
-## @itemx inscale
-## Constant matrices of appropriate dimension.
-## @item outname
-## @itemx inname
-## Lists of strings with the names of respectively outputs and inputs.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item retsys
-## resulting open loop system:
-## @smallexample
-##       -----------    -------    -----------
-## u --->| inscale |--->| sys |--->| outscale |---> y
-##       -----------    -------    -----------
-## @end smallexample
-## @end table
-## If the input names and output names (each a list of strings)
-## are not given and the scaling matrices
-## are not square, then default names will be given to the inputs and/or
-## outputs.
-##
-## A warning message is printed if outscale attempts to add continuous
-## system outputs to discrete system outputs; otherwise @var{yd} is
-## set appropriately in the returned value of @var{sys}.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: August 1995
-## modified by John Ingram 7-15-96
-
-function sys = sysscale (sys, outscale, inscale, outname, inname)
-
-  if (nargin < 3 || nargin > 5)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be a structured system");
-  endif
-
-  [nn, nz, mm, pp] = sysdimensions (sys);
-
-  ## check for omitted scales
-  if (isempty (outscale))
-    outscale = eye (pp);
-  endif
-  if (isempty (inscale))
-    inscale = eye (mm);
-  endif
-
-  ## check dimensions of scaling matrices
-  if (mm != rows (inscale))
-    error ("inscale(%dx%d) should have %d rows(# system inputs)",
-	   rows (inscale), columns (inscale), mm);
-  elseif (pp != columns (outscale) )
-    error ("outscale(%dx%d) should have %d columns(# system outputs)",
-	   rows (outscale), columns (outscale), pp);
-  endif
-
-  sysyd = sysgetsignals (sys, "yd");
-  outc = find (sysyd == 0);
-  outd = find (sysyd == 1);
-
-  if (length (outc) > 0 && length (outd) > 0)
-    for ii = 1:rows(outscale)
-      nci = norm (outscale (ii, outc));
-      ndi = norm (outscale (ii, outd));
-
-      if (nci > 0 && ndi > 0)
-        warning ("sysscale: outscale(%d,:) sums continuous and discrete outputs; setting output to cont",
-		 ii)
-        sysyd(ii) = 0;
-      else
-        sysyd(ii) = (ndi != 0);
-      endif
-    endfor
-  else
-    sysyd = ones (1, rows (outscale)) * (length(outd) > 0);
-  endif
-
-  ## check for SISO system type
-  if (strcmp (sysgettype (sys), "tf"))
-    [num, den, tsam, innam, outnam] = sys2tf (sys);
-    num = num*inscale*outscale;
-    sys = tf (num, den, tsam, innam, outnam);
-    return;
-  elseif (strcmp (sysgettype (sys), "zp"))
-    [zer, pol, kk, tsam, innam, outnam] = sys2zp (sys);
-    kk = kk*inscale*outscale;
-    sys = zp (zer, pol, k, tsam, innam, outnam);
-    return;
-  endif
-
-  ## it's a state space system...
-
-  [sysa, sysb, sysc, sysd, systsam, ...
-   sysn, sysnz, sysstname, sysinname, sysoutname, oldyd] = sys2ss(sys);
-
-  sysb = sysb*inscale;
-  sysc = outscale*sysc;
-  sysd = outscale*sysd*inscale;
-
-  if (! issquare (outscale))
-    ## strip extra output names (if any)
-    sysoutname = sysoutname(1:min(rows(outscale), columns(outscale)));
-    if (nargin < 4)
-      warning ("sysscale: outscale not square, outname not specified");
-      warning ("sysscale:  using default output names");
-      outname = __sysdefioname__ (rows (sysc), "y");
-    endif
-  else
-    outname = sysoutname;
-  endif
-  if (! issquare (inscale))
-    ## strip extra output names (if any)
-    sysinname = sysinname(1:min(rows(inscale), columns(inscale)));
-    if (nargin < 5)
-      warning ("sysscale: inscale not square, inname not specified");
-      warning ("sysscale:  using default input names");
-      inname = __sysdefioname__ (columns (sysb), "u");
-    endif
-  else
-    inname = sysgetsignals (sys, "in");
-  endif
-
-  sys = ss (sysa, sysb, sysc, sysd, systsam, nn, nz, sysstname,
-	    inname, outname, find (sysyd == 1));
-
-endfunction
--- a/scripts/control/system/syssetsignals.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,244 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} syssetsignals (@var{sys}, @var{opt}, @var{names}, @var{sig_idx})
-## change the names of selected inputs, outputs and states.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys
-## System data structure.
-##
-## @item opt
-## Change default name (output).
-##
-## @table @code
-## @item "out"
-## Change selected output names.
-## @item "in"
-## Change selected input names.
-## @item "st"
-## Change selected state names.
-## @item "yd"
-## Change selected outputs from discrete to continuous or
-## from continuous to discrete.
-## @end table
-##
-## @item names
-## @table @code
-## @item opt = "out", "in", "st"
-## string or string array containing desired signal names or values.
-## @item opt = "yd"
-## To desired output continuous/discrete flag.
-## Set name to 0 for continuous, or 1 for discrete.
-## @end table
-## @item sig_idx
-## indices or names of outputs, yd, inputs, or
-## states whose respective names/values should be changed.
-##
-## Default: replace entire cell array of names/entire yd vector.
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item retsys
-## @var{sys} with appropriate signal names changed
-## (or @var{yd} values, where appropriate).
-## @end table
-##
-## @strong{Example}
-## @example
-## octave:1> sys=ss ([1 2; 3 4],[5;6],[7 8]);
-## octave:2> sys = syssetsignals (sys, "st",
-## >                              str2mat("Posx","Velx"));
-## octave:3> sysout(sys)
-## Input(s)
-##         1: u_1
-## Output(s):
-##         1: y_1
-## state-space form:
-## 2 continuous states, 0 discrete states
-## State(s):
-##         1: Posx
-##         2: Velx
-## A matrix: 2 x 2
-##   1  2
-##   3  4
-## B matrix: 2 x 1
-##   5
-##   6
-## C matrix: 1 x 2
-##   7  8
-## D matrix: 1 x 1
-## 0
-## @end example
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: August 1996
-
-function retsys = syssetsignals (sys, opt, names, sig_idx)
-
-  if (nargin < 3 || nargin > 4)
-    print_usage ();
-  elseif (! isstruct (sys))
-    error ("sys must be a system data structure");
-  elseif (isempty (opt))
-    opt = "out";
-  elseif (! ischar (opt))
-    error ("opt must be a string");
-  elseif (! (strcmp (opt, "out") || strcmp (opt, "yd")
-	     || strcmp (opt, "in") || strcmp (opt, "st")))
-    error ("opt must be one of [], \"out\", \"yd\", \"in\", or \"st\"");
-  elseif (nargin == 4)
-    if (is_signal_list (sig_idx) || ischar (sig_idx))
-      ## convert to vector of indices
-      if (opt == "yd")
-        sig_idx = sysidx (sys, "out", sig_idx);
-      else
-        sig_idx = sysidx (sys, opt, sig_idx);
-      endif
-    endif
-
-    ## check index vector
-    if (min (size (sig_idx)) > 1)
-      disp ("syssetsignals: sig_idx=")
-      disp (sig_idx);
-      error ("sig_idx must be a vector")
-    endif
-  endif
-
-  sig_vals = sysgetsignals (sys, opt);
-
-  ## make sure it's in state space form if state names are given
-  if (strcmp (opt, "st"))
-    sys = sysupdate (sys, "ss");
-  endif
-
-  if (strcmp (opt, "yd") == 0)
-    ## it's a signal name list we're changing
-    if (! iscell (names))
-      names = {names};
-    endif
-    if (! is_signal_list (names) && ! isempty (names))
-      if (ischar (names{1}))
-        tmpstr = names{1};
-        for ii=1:rows(tmpstr)
-          names{ii} = deblank(tmpstr(ii,:));
-        endfor
-      else
-        error ("parameter \"names\" must be a cell array of strings");
-      endif
-    endif
-    nsigs = length (sig_vals);
-
-    if (nargin == 3)
-      ## replace all signal names
-      if (length (names) != nsigs)
-        error ("opt=%s, sig_idx omitted: names(len=%d) should have %d entries ",
-               opt, length (names), nsigs);
-      endif
-      sig_idx = 1:nsigs;
-    elseif (length (names) != length (sig_idx))
-      ## replace specified signal names
-      error ("opt=%s, sig_idx(len=%d), names(len=%d) mismatch",
-	     opt, length (sig_idx), length (names));
-    endif
-
-    for ii = 1:length(sig_idx)
-      jj = sig_idx(ii);
-      if (jj < 1 || jj > nsigs || jj != floor (jj+0.5))
-        error ("opt=%s, sig_idx(%d)=%d, %e: must be an integer between 1 and %d",
-               opt, ii, jj, jj, nsigs);
-      endif
-      sig_vals{jj} = names{ii};
-    endfor
-
-  else
-    ## update yd
-    ## 1st check pathological case: no outputs
-    nout = sysdimensions (sys, "out");
-    if (nout == 0)
-      if (nargin != 3)
-        error ("opt=%s, %d outputs, sysgetsignals cannot take 4 arguments",
-               opt, nout);
-      endif
-      if (! isempty (names))
-        error ("opt=%s, %d outputs, names is not empty", opt, nout);
-      endif
-      sigvals = [];
-    else
-      nsigs = length (sig_vals);
-      if (! isvector (names))
-        error ("syssetsignals: opt=%s, names(%dx%d) must be a vector",
-              opt, rows (names), columns (names));
-      endif
-      if (nargin == 3)
-        if (length (names) != nsigs)
-          error ("opt=%s, sig_idx omitted: names(%d) should be length(%d)",
-		 opt, length (names), nsigs);
-        endif
-        sig_idx = 1:nsigs;
-      elseif (length(names) != length (sig_idx))
-        error ("opt=%s: length(names)=%d, length(sig_idx)=%d",
-	       opt, length (names), length (sig_idx));
-      endif
-
-      badidx = find (names != 0 & names != 1);
-      if (! isempty (badidx))
-        for ii = 1:length(badidx)
-          warning ("syssetsignals: opt=%s: names(%d)=%e, must be 0 or 1",
-		   opt, badidx(ii), names(badidx(ii)) );
-        endfor
-        error ("opt=%s: invalid values in names", opt);
-      endif
-
-      for ii = 1:length(sig_idx)
-        jj = sig_idx(ii);
-        if (jj < 1 || jj > nsigs || jj != floor (jj))
-          error ("sig_idx(%d)=%d, %e: must be an integer between 1 and %d",
-		 ii, jj, jj, nsigs);
-        endif
-        sig_vals(jj) = names(ii);
-      endfor
-      if (any (sig_vals == 1) && sysgettsam (sys) == 0)
-        warning ("Setting system sampling time to 1");
-        printf ("syssetsignals: original system sampling time=0 but output(s)\n");
-        disp (find (sig_vals == 1))
-        printf ("are digital\n");
-        sys = syschtsam (sys, 1);
-      endif
-
-    endif
-  endif
-
-  if (strcmp (opt, "st"))
-    sys.stname = sig_vals;
-  elseif (strcmp (opt, "in"))
-    sys.inname = sig_vals;
-  elseif (strcmp (opt, "out"))
-    sys.outname = sig_vals;
-  elseif (strcmp (opt, "yd"))
-    sys.yd = sig_vals;
-  endif
-
-  retsys = sys;
-
-endfunction
--- a/scripts/control/system/syssub.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,126 +0,0 @@
-## Copyright (C) 1996, 1999, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{sys} =} syssub (@var{Gsys}, @var{Hsys})
-## Return @math{sys = Gsys - Hsys}.
-##
-## @strong{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
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: July 1996
-## updated for variable numbers of input arguments by July 1999 A. S. Hodel
-
-function sys = syssub (varargin)
-
-  if (nargin < 1)
-    print_usage ();
-  endif
-
-  ## collect all arguments
-  arglist = {};
-  for kk = 1:nargin
-    arglist{kk} = varargin{kk};
-    if (! isstruct (arglist{kk}))
-      error ("syssub: argument %d is not a data structure", kk);
-    endif
-  endfor
-
-  ## check system dimensions
-  [n, nz, mg, pg, Gyd] = sysdimensions (arglist{1});
-  for kk = 2:nargin
-    [n, nz, mh, ph, Hyd] = sysdimensions (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", kk);
-    endif
-  endfor
-
-  ## perform the subtract
-  if (nargin == 2)
-    Gsys = arglist{1};
-    Hsys = 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 = tf (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 = arglist{1};
-    for kk = 2:length(arglist)
-      sys = syssub (sys, arglist{kk});
-    endfor
-  endif
-
-endfunction
--- a/scripts/control/system/sysupdate.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,124 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} sysupdate (@var{sys}, @var{opt})
-## Update the internal representation of a system.
-##
-## @strong{Inputs}
-## @table @var
-## @item sys:
-## system data structure
-## @item opt
-## string:
-## @table @code
-## @item "tf"
-## update transfer function form
-## @item "zp"
-## update zero-pole form
-## @item "ss"
-## update state space form
-## @item "all"
-## all of the above
-## @end table
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item retsys
-## Contains union of data in sys and requested data.
-## If requested data in @var{sys} is already up to date then @var{retsys}=@var{sys}.
-## @end table
-##
-## Conversion to @command{tf} or @command{zp} exits with an error if the system is
-## mixed continuous/digital.
-## @seealso{tf, ss, zp, sysout, sys2ss, sys2tf, sys2zp}
-## @end deftypefn
-
-## Author: John Ingram <ingraje@eng.auburn.edu>
-## Created: July 9, 1996
-
-function sys = sysupdate (sys, opt)
-
-  ## check for correct number of inputs
-  if (nargin != 2)
-    print_usage ();
-  elseif (! isstruct (sys))
-   error ("first argument must be system data structure");
-  elseif (! (strcmp (opt, "tf") || strcmp (opt, "zp")
-             || strcmp (opt, "ss") || strcmp (opt, "all")))
-    error ("second argument must be \"tf\", \"zp\", \"ss\", or \"all\"");
-  endif
-
-  ## check to make sure not trying to make a SISO system out of a MIMO sys
-  if ((strcmp (opt, "tf") || strcmp(opt,"zp") || strcmp (opt, "all"))
-      && strcmp (sysgettype (sys), "ss") && ! is_siso (sys))
-    error ("MIMO -> SISO update requested");
-  endif
-
-  ## update transfer function if desired
-  if ((strcmp (opt, "tf") || strcmp (opt, "all")) && (! sys.sys(2)))
-    ## check to make sure the system is not discrete and continuous
-    is_digital (sys);
-
-    ## if original system zero-pole
-    if (strcmp (sysgettype (sys), "zp"))
-      [sys.num, sys.den] = zp2tf (sys.zer, sys.pol, sys.k);
-      sys.sys(2) = 1;
-    ## if original system is state-space
-    elseif (sys.sys(1) == 2)
-      [sys.num, sys.den] = ss2tf (sys.a, sys.b, sys.c, sys.d);
-      sys.sys(2) = 1;
-    endif
-  endif
-
-
-  ## update zero-pole if desired
-  if ((strcmp (opt, "zp") || strcmp (opt, "all")) && ! sys.sys(3))
-    ## check to make sure the system is not discrete and continuous
-    is_digital (sys);
-
-    ## original system is transfer function
-    if (sys.sys(1) == 0)
-      [sys.zer, sys.pol, sys.k] = tf2zp (sys.num, sys.den);
-      sys.sys(3) = 1;
-    ## original system is state-space
-    elseif (sys.sys(1) == 2)
-      [sys.zer, sys.pol, sys.k] = ss2zp (sys.a, sys.b, sys.c, sys.d);
-      sys.sys(3) = 1;
-    endif
-  endif
-
-  ## update state-space if desired
-  if ((strcmp (opt, "ss") || strcmp (opt, "all")) && ! sys.sys(4))
-    ## original system is transfer function
-    if (sys.sys(1) == 0)
-      [sys.a, sys.b, sys.c, sys.d] = tf2ss (sys.num, sys.den);
-      sys.sys(4) = 1;
-    ## original system is zero-pole
-    elseif (sys.sys(1) == 1)
-      [sys.a, sys.b, sys.c, sys.d] = zp2ss (sys.zer, sys.pol, sys.k);
-      sys.sys(4) = 1;
-    endif
-
-    ## create new state names
-    sys.stname = __sysdefstname__ (sys.n, sys.nz);
-  endif
-
-endfunction
--- a/scripts/control/system/tf.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,149 +0,0 @@
-## Copyright (C) 1996, 1998, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} tf (@var{num}, @var{den}, @var{tsam}, @var{inname}, @var{outname})
-## build system data structure from transfer function format data
-##
-## @strong{Inputs}
-## @table @var
-## @item  num
-## @itemx den
-## coefficients of numerator/denominator polynomials
-## @item tsam
-## sampling interval. default: 0 (continuous time)
-## @item inname
-## @itemx outname
-## input/output signal names; may be a string or cell array with a single string
-## entry.
-## @end table
-##
-## @strong{Outputs}
-## @var{sys} = system data structure
-##
-## @strong{Example}
-## @example
-## octave:1> sys=tf([2 1],[1 2 1],0.1);
-## octave:2> sysout(sys)
-## Input(s)
-##         1: u_1
-## Output(s):
-##         1: y_1 (discrete)
-## Sampling interval: 0.1
-## transfer function form:
-## 2*z^1 + 1
-## -----------------
-## 1*z^2 + 2*z^1 + 1
-## @end example
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: July 29, 1994
-## Name changed to TF2SYS July 1995
-## updated for new system data structure format July 1996
-
-function outsys = tf (num, den, tsam, inname, outname)
-
-  ## Test for the correct number of input arguments
-  if (nargin < 2 || nargin > 5)
-    print_usage ();
-  endif
-
-  ## check input format
-  if (! ((isvector (num) || isscalar (num))
-	 && (isvector (den) || isscalar (den))))
-    error ("num (%dx%d) and den (%dx%d) must be vectors",
-	   rows (num), columns (num), rows (den), columns (den));
-  endif
-
-  ## strip leading zero coefficients
-  num = __tfl__ (num);
-  den = __tfl__ (den);
-
-  if (length (num) > length (den))
-    error ("# of poles (%d) < # of zeros (%d)", length(den)-1, length(num)-1);
-  endif
-
-  ## check sampling interval (if any)
-  if (nargin <= 2)
-    tsam = 0;           # default
-  elseif (isempty (tsam))
-    tsam = 0;
-  endif
-  if (! (isscalar (tsam) && imag (tsam) == 0) || tsam < 0)
-    error ("tsam must be a positive real scalar")
-  endif
-
-  outsys.num = num;
-  outsys.den = den;
-
-  ## Set the system vector:  active = 0(tf), updated = [1 0 0];
-  outsys.sys = [0, 1, 0, 0];
-
-  ## Set defaults
-  outsys.tsam = tsam;
-  outsys.n = length (den) - 1;
-  outsys.nz = 0;
-  outsys.yd = 0;        # assume discrete-time
-  ## check discrete time
-  if (tsam > 0)
-    [outsys.n, outsys.nz] = swap (outsys.n, outsys.nz);
-    outsys.yd = 1;
-  endif
-
-  outsys.inname  = __sysdefioname__ (1, "u");
-  outsys.outname = __sysdefioname__ (1, "y");
-  outsys.stname  = __sysdefstname__ (outsys.n, outsys.nz);
-
-  ## Set name of input
-  if (nargin > 3)
-    ## make sure it's a cell array of a single string
-    if (! isempty (inname))
-      if (! iscell (inname))
-	inname = {inname};
-      endif
-      if (! is_signal_list (inname))
-        error ("inname must be a string or cell array of strings");
-      endif
-      if (length (inname) > 1)
-        warning ("tf: %d input names provided; first used", length (inname));
-        inname = inname(1);
-      endif
-      outsys = syssetsignals (outsys, "in", inname);
-    endif
-  endif
-
-  ## Set name of output
-  if (nargin > 4)
-    if (! isempty (outname))
-      if (! iscell (outname))
-	outname = {outname};
-      endif
-      if (! is_signal_list (outname))
-        error ("outname must be a string or a cell array of strings");
-      endif
-      if (length (outname) > 1)
-        warning ("tf: %d output names provided; first used", length(outname));
-        outname = outname(1);
-      endif
-      outsys = syssetsignals (outsys, "out", outname);
-    endif
-  endif
-
-endfunction
--- a/scripts/control/system/tf2ss.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,135 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}] =} tf2ss (@var{num}, @var{den})
-## Conversion from transfer function to state-space.
-## The state space system:
-## @iftex
-## @tex
-## $$ \dot x = Ax + Bu $$
-## $$ y = Cx + Du $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##       .
-##       x = Ax + Bu
-##       y = Cx + Du
-## @end example
-## @end ifinfo
-## is obtained from a transfer function:
-## @iftex
-## @tex
-## $$ G(s) = { { \rm num }(s) \over { \rm den }(s) } $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##                 num(s)
-##           G(s)=-------
-##                 den(s)
-## @end example
-## @end ifinfo
-##
-## The vector @var{den} must contain only one row, whereas the vector
-## @var{num} may contain as many rows as there are outputs @var{y} of
-## the system. The state space system matrices obtained from this function
-## will be in controllable canonical form as described in @cite{Modern Control
-## Theory}, (Brogan, 1991).
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: June 22, 1994
-## mod A S Hodel July, Aug  1995
-
-function [a, b, c, d] = tf2ss (num, den)
-
-  if (nargin != 2)
-    print_usage ();
-  elseif (isempty (num))
-    error ("tf2ss: empty numerator");
-  elseif (isempty (den))
-    error ("tf2ss: empy denominator");
-  elseif (! isvector (num))
-    error ("num(%dx%d) must be a vector", rows (num), columns (num));
-  elseif (! isvector (den))
-    error ("den(%dx%d) must be a vector", rows (den), columns (den));
-  endif
-
-  ## strip leading zeros from num, den
-  nz = find (num != 0);
-  if (isempty (nz))
-    num = 0;
-  else
-    num = num(nz(1):length(num));
-  endif
-  nz = find (den != 0);
-  if (isempty (nz))
-    error ("denominator is 0.");
-  else
-    den = den(nz(1):length(den));
-  endif
-
-  ## force num, den to be row vectors
-  num = vec (num)';
-  den = vec (den)';
-  nn = length (num);
-  nd = length (den);
-  if (nn > nd)
-    error ("deg(num)=%d > deg(den)= %d", nn, nd);
-  endif
-
-   ## Check sizes
-   if (nd == 1)
-     a = b = c = [];
-     d = num(:,1) / den(1);
-   else
-    ## Pad num so that length(num) = length(den)
-    if (nd-nn > 0)
-      num = [zeros(1,nd-nn), num];
-    endif
-
-    ## Normalize the numerator and denominator vector w.r.t. the leading
-    ## coefficient
-    d1 = den(1);
-    num = num / d1;
-    den = den(2:nd)/d1;
-    sw = nd-1:-1:1;
-
-    ## Form the A matrix
-    if (nd > 2)
-      a = [zeros(nd-2,1), eye(nd-2,nd-2); -den(sw)];
-    else
-      a = -den(sw);
-    endif
-
-    ## Form the B matrix
-    b = zeros (nd-1, 1);
-    b(nd-1,1) = 1;
-
-    ## Form the C matrix
-    c = num(:,2:nd)-num(:,1)*den;
-    c = c(:,sw);
-
-    ## Form the D matrix
-    d = num(:,1);
-  endif
-
-endfunction
--- a/scripts/control/system/tf2sys.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,70 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} tf2sys (@var{num}, @var{den}, @var{tsam}, @var{inname}, @var{outname})
-## Build system data structure from transfer function format data.
-##
-## @strong{Inputs}
-## @table @var
-## @item  num
-## @itemx den
-## Coefficients of numerator/denominator polynomials.
-## @item tsam
-## Sampling interval; default: 0 (continuous time).
-## @item inname
-## @itemx outname
-## Input/output signal names; may be a string or cell array with a single string
-## entry.
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item sys
-## System data structure.
-## @end table
-##
-## @strong{Example}
-## @example
-## octave:1> sys=tf2sys([2 1],[1 2 1],0.1);
-## octave:2> sysout(sys)
-## Input(s)
-##         1: u_1
-## Output(s):
-##         1: y_1 (discrete)
-## Sampling interval: 0.1
-## transfer function form:
-## 2*z^1 + 1
-## -----------------
-## 1*z^2 + 2*z^1 + 1
-## @end example
-## @end deftypefn
-
-## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
-## Created: July 29, 1994
-## Name changed to TF2SYS July 1995
-## updated for new system data structure format July 1996
-## name changed to tf Feb 2004
-
-function outsys = tf2sys (varargin)
-
-  warning ("tf2sys is deprecated.  Use tf instead.");
-  outsys = tf (varargin{:});
-
-endfunction
--- a/scripts/control/system/tf2zp.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,51 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{zer}, @var{pol}, @var{k}] =} tf2zp (@var{num}, @var{den})
-## Converts transfer functions to poles-and-zero representations.
-##
-## Returns the zeros and poles of the @acronym{SISO} system defined
-## by @var{num}/@var{den}.
-## @var{k} is a gain associated with the system zeros.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-
-function [zer, pol, k] = tf2zp (num, den)
-
-  if (nargin == 2)
-    if (length (den) > 1)
-      pol = roots (den);
-    else
-      pol = [];
-    endif
-
-    if (length (num) > 1)
-      zer = roots (num);
-    else
-      zer = [];
-    endif
-  else
-    print_usage ();
-  endif
-
-  k = num(1) / den(1);
-
-endfunction
--- a/scripts/control/system/tfout.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,59 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} tfout (@var{num}, @var{denom}, @var{x})
-## Print formatted transfer function @math{n(s)/d(s)} to the screen.
-## @var{x} defaults to the string @code{"s"}
-## @seealso{polyval, polyvalm, poly, roots, conv, deconv, residue,
-## filter, polyderiv, polyinteg, polyout}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: June 1995
-
-function tfout (num, denom, x)
-
-  if (nargin < 2 || nargin > 3)
-    print_usage ();
-  endif
-
-  if (! isvector (num) || ! isvector (denom))
-    error ("tfout: first two argument must be vectors");
-  endif
-
-  if (nargin == 2)
-    x = "s";
-  elseif (! ischar (x))
-    error ("tfout: third argument must be a string");
-  endif
-
-  numstring = polyout (num, x);
-  denomstring = polyout (denom, x);
-  len = max (length (numstring), length (denomstring));
-  if (len > 0)
-    y = strrep (blanks (len), " ", "-");
-    disp (numstring)
-    disp (y)
-    disp (denomstring)
-  else
-    error ("tfout: empty transfer function")
-  endif
-
-endfunction
--- a/scripts/control/system/ugain.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,39 +0,0 @@
-## Copyright (C) 1997, 2000, 2003, 2004, 2005, 2006, 2007 Kai P. Mueller
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} ugain (@var{n})
-## Creates a system with unity gain, no states.
-## This trivial system is sometimes needed to create arbitrary
-## complex systems from simple systems with @command{buildssic}.
-## Watch out if you are forming sampled systems since @command{ugain}
-## does not contain a sampling period.
-## @seealso{hinfdemo, jet707}
-## @end deftypefn
-
-## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
-## Created: April 1998
-
-function outsys = ugain (n)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-  outsys = ss ([], [], [], eye (n));
-
-endfunction
--- a/scripts/control/system/zp.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,152 +0,0 @@
-## Copyright (C) 1996, 1998, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} zp (@var{zer}, @var{pol}, @var{k}, @var{tsam}, @var{inname}, @var{outname})
-## Create system data structure from zero-pole data.
-##
-## @strong{Inputs}
-## @table @var
-## @item   zer
-## vector of system zeros
-## @item   pol
-## vector of system poles
-## @item   k
-## scalar leading coefficient
-## @item   tsam
-## sampling period. default: 0 (continuous system)
-## @item   inname
-## @itemx  outname
-## input/output signal names (lists of strings)
-## @end table
-##
-## @strong{Outputs}
-## sys: system data structure
-##
-## @strong{Example}
-## @example
-## octave:1> sys=zp([1 -1],[-2 -2 0],1);
-## octave:2> sysout(sys)
-## Input(s)
-##         1: u_1
-## Output(s):
-##         1: y_1
-## zero-pole form:
-## 1 (s - 1) (s + 1)
-## -----------------
-## s (s + 2) (s + 2)
-## @end example
-## @end deftypefn
-
-## Modified by John Ingram  July 20, 1996
-
-function outsys = zp (zer, pol, k, tsam, inname, outname)
-
-  ## Test for the correct number of input arguments
-  if (nargin < 3 || nargin > 6)
-    print_usage ();
-  endif
-
-  ## check input format
-  if (! (isvector (zer) || isempty (zer)))
-    error ("zer must be a vector or empty");
-  endif
-  if (! isempty (zer))
-    zer = reshape (zer, 1, length (zer));           # make it a row vector
-  endif
-
-  if (! (isvector (pol) || isempty (pol)))
-    error ("pol must be a vector");
-  endif
-  if (! isempty (pol))
-    pol = reshape (pol, 1, length (pol));
-  endif
-
-  if (! isscalar (k))
-    error ("k must be a scalar");
-  endif
-
-  ## Test proper numbers of poles and zeros.  The number of poles must be
-  ## greater than or equal to the number of zeros.
-  if (length (zer) > length (pol))
-    error ("number of poles (%d) < number of zeros (%d)",
-	   length (pol), length (zer));
-  endif
-
-  ## Set the system transfer function
-  outsys.zer = zer;
-  outsys.pol = pol;
-  outsys.k = k;
-
-  ## Set the system vector:  active = 1, updated = [0 1 0];
-  outsys.sys = [1, 0, 1, 0];
-
-  ## Set defaults
-  outsys.tsam = 0;
-  outsys.n = length (pol);
-  outsys.nz = 0;
-  outsys.yd = 0;        # assume (for now) continuous time outputs
-
-  ## Set the type of system
-  if (nargin > 3)
-    if (! isscalar (tsam))
-      error ("tsam must be a nonnegative scalar");
-    endif
-    if (tsam < 0)
-      error ("sampling time must be positve")
-    elseif (tsam > 0)
-      [outsys.n, outsys.nz] = swap (outsys.n, outsys.nz);
-      outsys.yd = 1;            # discrete-time output
-    endif
-
-    outsys.tsam = tsam;
-  endif
-
-  outsys.inname = __sysdefioname__ (1, "u");
-  outsys.outname = __sysdefioname__ (1, "y");
-  outsys.stname = __sysdefstname__ (outsys.n, outsys.nz);
-
-  ## Set name of input
-  if (nargin > 4)
-    ## make sure its a string
-    if (! isempty (inname))
-      if (! iscell (inname))
-        inname = {inname};
-      endif
-      if (! is_signal_list (inname))
-        error ("inname must be a single signal name");
-      endif
-      outsys.inname = inname(1);
-    endif
-  endif
-
-  ## Set name of output
-  if (nargin > 5)
-    if (! isempty (outname))
-      if (! iscell (outname))
-        outname = {outname};
-      endif
-      if (! is_signal_list (outname))
-        error ("outname must be a single signal name");
-      endif
-      outsys.outname = outname(1);
-    endif
-  endif
-
-endfunction
--- a/scripts/control/system/zp2ss.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,158 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2003, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}] =} zp2ss (@var{zer}, @var{pol}, @var{k})
-## Conversion from zero / pole to state space.
-##
-## @strong{Inputs}
-## @table @var
-## @item zer
-## @itemx pol
-## Vectors of (possibly) complex poles and zeros of a transfer
-## function. Complex values must come in conjugate pairs
-## (i.e., @math{x+jy} in @var{zer} means that @math{x-jy} is also in @var{zer}).
-## The number of zeros must not exceed the number of poles.
-## @item k
-## Real scalar (leading coefficient).
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item @var{a}
-## @itemx @var{b}
-## @itemx @var{c}
-## @itemx @var{d}
-## The state space system, in the form:
-## @iftex
-## @tex
-## $$ \dot x = Ax + Bu $$
-## $$ y = Cx + Du $$
-## @end tex
-## @end iftex
-## @ifinfo
-## @example
-##      .
-##      x = Ax + Bu
-##      y = Cx + Du
-## @end example
-## @end ifinfo
-## @end table
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 15, 1994
-
-function [a, b, c, d] = zp2ss (zer, pol, k)
-
-  if (nargin != 3)
-    print_usage ();
-  endif
-
-  if (! (isvector (zer) || isempty (zer)))
-    error ("zer(%d,%d) should be a vector", rows (zer), columns (zer));
-  elseif (! (isvector (pol) || isempty (pol)))
-    error ("pol(%d,%d) should be a vector", rows (pol), columns (pol));
-  elseif (! isscalar(k))
-    error ("k(%d,%d) should be a scalar", rows (k), columns (k));
-  elseif (k != real (k))
-    warning ("zp2ss: k is complex")
-  endif
-
-  zpsys = ss (zeros (0, 0), zeros (0, 1), zeros (1, 0), k);
-
-  ## Find the number of zeros and the number of poles
-  nzer = length (zer);
-  npol = length (pol);
-
-  if (nzer > npol)
-    error ("%d zeros, exceeds number of poles=%d", nzer, npol);
-  endif
-
-  ## Sort to place complex conjugate pairs together
-  zer = sortcom (zer);
-  pol = sortcom (pol);
-
-  ## construct the system as a series connection of poles and zeros
-  ## problem: poles and zeros may come in conjugate pairs, and not
-  ## matched up!
-
-  ## approach: remove poles/zeros from the list as they are included in
-  ## the ss system
-
-  while (length (pol))
-
-    ## search for complex poles, zeros
-    cpol = [];
-    czer = [];
-    if (! isempty (pol))
-      cpol = find (imag (pol) != 0);
-    endif
-    if (! isempty (zer))
-      czer = find (imag (zer) != 0);
-    endif
-
-    if (isempty (cpol) && isempty (czer))
-      pcnt = 1;
-    else
-      pcnt = 2;
-    endif
-
-    num = 1;      # assume no zeros left.
-    switch (pcnt)
-      case 1
-	## real pole/zero combination
-	if (length (zer))
-	  num = [1, -zer(1)];
-	  zer = zer(2:length(zer));
-	endif
-	den = [1, -pol(1)];
-	pol = pol(2:length(pol));
-      case 2
-	## got a complex pole or zero, need two roots (if available)
-	if (length (zer) > 1)
-	  [num, zer] = __zp2ssg2__ (zer);       # get two zeros
-	elseif (length (zer) == 1)
-	  num = [1, -zer];                # use last zero (better be real!)
-	  zer = [];
-	endif
-	[den, pol] = __zp2ssg2__ (pol);         # get two poles
-      otherwise
-	error ("pcnt = %d", pcnt);
-      endswitch
-
-      ## pack tf into system form and put in series with earlier realization
-      zpsys1 = tf (num, den, 0, "u", "yy");
-
-      ## change names to avoid warning messages from sysgroup
-      zpsys  = syssetsignals (zpsys, "in", "u1", 1);
-      zpsys1 = sysupdate (zpsys1, "ss");
-      nn     = sysdimensions (zpsys);        # working with continuous system
-      zpsys  = syssetsignals (zpsys, "st", __sysdefioname__ (nn, "x"));
-      nn1    = sysdimensions (zpsys1);
-      zpsys1 = syssetsignals (zpsys1, "st", __sysdefioname__ (nn1, "xx"));
-
-      zpsys = sysmult (zpsys, zpsys1);
-
-    endwhile
-
-    [a, b, c, d] = sys2ss (zpsys);
-
-endfunction
-
--- a/scripts/control/system/zp2sys.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,67 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} zp2sys (@var{zer}, @var{pol}, @var{k}, @var{tsam}, @var{inname}, @var{outname})
-## Create system data structure from zero-pole data.
-##
-## @strong{Inputs}
-## @table @var
-## @item   zer
-## Vector of system zeros.
-## @item   pol
-## Vector of system poles.
-## @item   k
-## Scalar leading coefficient.
-## @item   tsam
-## Sampling period; default: 0 (continuous system).
-## @item   inname
-## @itemx  outname
-## Input/output signal names (lists of strings).
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item sys
-## System data structure.
-## @end table
-##
-## @strong{Example}
-## @example
-## octave:1> sys=zp2sys([1 -1],[-2 -2 0],1);
-## octave:2> sysout(sys)
-## Input(s)
-##         1: u_1
-## Output(s):
-##         1: y_1
-## zero-pole form:
-## 1 (s - 1) (s + 1)
-## -----------------
-## s (s + 2) (s + 2)
-## @end example
-## @end deftypefn
-
-## Modified by John Ingram  July 20, 1996
-
-function outsys = zp2sys ( varargin )
-
-  warning ("zp2sys is deprecated.  Use zp instead.");
-  outsys = zp (varargin{:});
-
-endfunction
--- a/scripts/control/system/zp2tf.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,86 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{num}, @var{den}] =} zp2tf (@var{zer}, @var{pol}, @var{k})
-## Converts zeros / poles to a transfer function.
-##
-## @strong{Inputs}
-## @table @var
-## @item zer
-## @itemx pol
-## Vectors of (possibly complex) poles and zeros of a transfer
-## function.  Complex values must appear in conjugate pairs.
-## @item k
-## Real scalar (leading coefficient).
-## @end table
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## (With help from students Ingram, McGowan.)
-
-function [num, den] = zp2tf (zer, pol, k)
-
-  if (nargin != 3)
-    print_usage ();
-  endif
-
-  ## Find out whether data was entered as a row or a column vector and
-  ## convert to a column vector if necessary.
-
-  [rp, cp] = size (pol);
-  [rz, cz] = size (zer);
-
-  if (! (isvector (zer) || isempty (zer)))
-    error ("zer(%dx%d) must be a vector", rz, cz);
-  elseif (! (isvector (pol) || isempty (pol)))
-    error ("pol(%dx%d) must be a vector", rp, cp);
-  elseif (length (zer) > length (pol))
-    error ("zer(%dx%d) longer than pol(%dx%d)", rz, cz, rp, cp);
-  endif
-
-  ## initialize converted polynomials
-
-  num = k;
-  den = 1;
-
-  ## call __zp2ssg2__ if there are complex conjugate pairs left, otherwise
-  ## construct real zeros one by one.  Repeat for poles.
-
-  while (! isempty (zer))
-    if (max (abs (imag (zer))))
-      [poly, zer] = __zp2ssg2__ (zer);
-    else
-      poly = [1, -zer(1)];
-      zer = zer(2:length(zer));
-    endif
-    num = conv (num, poly);
-  endwhile
-
-  while (! isempty (pol))
-    if (max (abs (imag (pol))))
-      [poly, pol] = __zp2ssg2__ (pol);
-    else
-      poly = [1, -pol(1)];
-      pol = pol(2:length(pol));
-    endif
-    den = conv (den, poly);
-  endwhile
-
-endfunction
--- a/scripts/control/system/zpout.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,105 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} zpout (@var{zer}, @var{pol}, @var{k}, @var{x})
-## print formatted zero-pole form to the screen.
-## @var{x} defaults to the string @code{"s"}
-## @seealso{polyval, polyvalm, poly, roots, conv, deconv, residue,
-## filter, polyderiv, polyinteg, polyout}
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: June 1995
-
-function zpout (zer, pol, k, x)
-
-  if (nargin < 3 || nargin > 4)
-    print_usage ();
-  endif
-
-  if (! (isvector (zer) || isempty (zer))
-      || ! (isvector (pol) || isempty(pol)))
-    error ("zer, pol must be vectors or empty");
-  endif
-
-  if (! isscalar(k))
-    error("zpout: argument k must be a scalar.")
-  endif
-
-  if (nargin == 3)
-    x = "s";
-  elseif (! ischar (x))
-    error ("zpout: third argument must be a string");
-  endif
-
-  numstring = num2str (k);
-
-  if (length (zer))
-    ## find roots at z,s = 0
-    nzr = sum (zer == 0);
-    if (nzr)
-      if (nzr > 1)
-	numstring = sprintf ("%s %s^%d", numstring, x, nzr);
-      else
-	numstring = cstrcat (numstring, x);
-      endif
-    endif
-    zer = sortcom (-zer);
-    for ii = 1:length(zer)
-      if (zer(ii) != 0)
-	numstring = sprintf ("%s (%s %s)", numstring, x, com2str (zer(ii), 1));
-      endif
-    endfor
-  endif
-
-  if (length (pol))
-    ## find roots at z,s = 0
-    nzr = sum (pol == 0);
-    if (nzr)
-      if (nzr > 1)
-	denomstring = sprintf("%s^%d", x, nzr);
-      else
-	denomstring = sprintf ("%s", x);
-      endif
-    else
-      denomstring = " ";
-    endif
-    pol = sortcom (-pol);
-    for ii = 1:length(pol)
-      if (pol(ii) != 0)
-	denomstring = sprintf ("%s (%s %s)", denomstring, x,
-			       com2str (pol(ii), 1));
-      endif
-    endfor
-  endif
-
-  len = max (length (numstring), length (denomstring));
-  if(len > 0)
-    y = strrep (blanks (len), " ", "-");
-    disp (numstring)
-    if (length (denomstring))
-	disp (y)
-	disp (denomstring)
-    endif
-  else
-    error ("zpout: empty transfer function")
-  endif
-
-endfunction
--- a/scripts/control/util/Makefile.in	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,85 +0,0 @@
-# Makefile for octave's scripts/control/util directory
-#
-# Copyright (C) 2000, 2002, 2005, 2006, 2007 John W. Eaton
-#
-# 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 3 of the License, 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, see
-# <http://www.gnu.org/licenses/>.
-
-TOPDIR = ../../..
-
-script_sub_dir = control/util
-
-srcdir = @srcdir@
-top_srcdir = @top_srcdir@
-VPATH = @srcdir@
-
-include $(TOPDIR)/Makeconf
-
-INSTALL = @INSTALL@
-INSTALL_PROGRAM = @INSTALL_PROGRAM@
-INSTALL_DATA = @INSTALL_DATA@
-
-SOURCES = __outlist__.m __zgpbal__.m axis2dlim.m prompt.m \
-  run_cmd.m sortcom.m strappend.m swap.m zgfmul.m zgfslv.m \
-  zginit.m zgreduce.m zgrownorm.m zgscal.m zgsgiv.m zgshsr.m
-
-DISTFILES = $(addprefix $(srcdir)/, Makefile.in $(SOURCES))
-
-FCN_FILES = $(addprefix $(srcdir)/, $(SOURCES))
-FCN_FILES_NO_DIR = $(notdir $(FCN_FILES))
-
-all: PKG_ADD
-.PHONY: all
-
-install install-strip:
-	$(do-script-install)
-.PHONY: install install-strip
-
-uninstall:
-	$(do-script-uninstall)
-.PHONY: uninstall
-
-clean:
-.PHONY: clean
-
-PKG_ADD: $(FCN_FILES)
-	@echo "making PKG_ADD"
-	@$(do-mkpkgadd)
-
-tags: $(SOURCES)
-	ctags $(SOURCES)
-
-TAGS: $(SOURCES)
-	etags $(SOURCES)
-
-mostlyclean: clean
-.PHONY: mostlyclean
-
-distclean: clean
-	rm -f Makefile PKG_ADD
-.PHONY: distclean
-
-maintainer-clean: distclean
-	rm -f tags TAGS
-.PHONY: maintainer-clean
-
-dist:
-	ln $(DISTFILES) ../../../`cat ../../../.fname`/scripts/$(script_sub_dir)
-.PHONY: dist
-
-check-m-sources:
-	@$(do-check-m-sources)
-.PHONY: check-m-sources
--- a/scripts/control/util/__outlist__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,81 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} __outlist__ (@var{lmat}, @var{tabchar}, @var{yd}, @var{ilist})
-## Prints an enumerated list of strings.
-## internal use only; minimal argument checking performed
-##
-## @strong{Inputs}
-## @table @var
-## @item        lmat
-## list of strings
-## @item        tabchar
-## tab character (default: none)
-## @item   yd
-## indices of strings to append with the string "(discrete)"
-## (used by @var{sysout}; minimal checking of this argument)
-## @math{yd = []} indicates all outputs are continuous
-## @item ilist
-## index numbers to print with names.
-##
-## default: @code{1:rows(lmat)}
-## @end table
-##
-## @strong{Outputs}
-## prints the list to the screen, numbering each string in order.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: December 1995
-
-function str_val = __outlist__ (name_list, tabchar, yd, ilist)
-
-  if (nargin < 1 || nargin > 4)
-    print_usage ();
-  endif
-
-  m = length (name_list);
-  if (nargin < 4)
-    ilist = 1:m;
-  endif
-  if (nargin == 1)
-    tabchar = "";
-  endif
-
-  if (nargin < 3)
-    yd = zeros (1, m);
-  elseif (isempty (yd))
-    yd = zeros (1, m);
-  endif
-
-  str_val = "";
-  dstr = {"", " (discrete)"};
-  if (m >= 1 && iscell (name_list))
-    for ii = 1:m
-      str_val = sprintf ("%s%s%d: %s%s\n", str_val, tabchar, ilist(ii),
-			 name_list{ii}, dstr{yd(ii)+1});
-    endfor
-  else
-    str_val = sprintf ("%sNone", tabchar);
-  endif
-
-endfunction
--- a/scripts/control/util/__zgpbal__.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,113 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## Undocumented internal function.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} __zgpbal__ (@var{sys})
-##
-## Used internally in @command{tzero}; minimal argument checking performed.
-##
-## Implementation of zero computation generalized eigenvalue problem
-## balancing method (Hodel and Tiller, Allerton Conference, 1991)
-## Based on Ward's balancing algorithm (@acronym{SIAM} J. Sci Stat. Comput., 1981).
-##
-## @command{__zgpbal__} computes a state/input/output weighting that attempts to
-## reduced the range of the magnitudes of the nonzero elements of [@var{a}, @var{b},
-## @var{c}, @var{d}].
-## The weighting uses scalar multiplication by powers of 2, so no roundoff
-## will occur.
-##
-## @command{__zgpbal__} should be followed by @command{zgpred}.
-## @end deftypefn
-
-## References:
-## ZGEP: Hodel, "Computation of Zeros with Balancing," 1992, submitted to  LAA
-## Generalized CG: Golub and Van Loan, "Matrix Computations, 2nd ed" 1989
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 24, 1992
-## Conversion to Octave by R. Bruce Tenison July 3, 1994
-
-function retsys = __zgpbal__ (Asys)
-
-  if (nargin != 1 || ! isstruct (Asys))
-    print_usage ();
-  endif
-
-  Asys = sysupdate (Asys, "ss");
-  [a, b, c, d] = sys2ss (Asys);
-
-  [nn, mm, pp] = abcddim (a, b, c, d);
-
-  np1 = nn+1;
-  nmp = nn+mm+pp;
-
-  ## set up log vector zz, incidence matrix ff
-  zz = zginit (a, b, c, d);
-
-  ## disp("__zgpbal__: zginit returns")
-  ## zz
-  ## disp("/__zgpbal__")
-
-  if (norm (zz))
-    ## generalized conjugate gradient approach
-    xx = zgscal (a, b, c, d, zz, nn, mm, pp);
-
-    for i = 1:nmp
-      xx(i) = floor (xx(i)+0.5);
-      xx(i) = 2.0^xx(i);
-    endfor
-
-    ## now scale a
-    ## block 1: a = sigma a inv(sigma)
-    for i = 1:nn
-      a(i,1:nn) = a(i,1:nn)*xx(i);
-      a(1:nn,i) = a(1:nn,i)/xx(i);
-    endfor
-    ## block 2: b= sigma a phi
-    for j = 1:mm
-      j1 = j+nn;
-      b(1:nn,j) = b(1:nn,j)*xx(j1);
-    endfor
-    for i = 1:nn
-      b(i,1:mm) = b(i,1:mm)*xx(i);
-    endfor
-    for i = 1:pp
-      i1 = i+nn+mm;
-      ## block 3: c = psi C inv(sigma)
-      c(i,1:nn) = c(i,1:nn)*xx(i1);
-    endfor
-    for j = 1:nn
-      c(1:pp,j) = c(1:pp,j)/xx(j);
-    endfor
-    ## block 4: d = psi D phi
-    for j = 1:mm
-      j1 = j+nn;
-      d(1:pp,j) = d(1:pp,j)*xx(j1);
-    endfor
-    for i = 1:pp
-      i1 = i + nn + mm;
-      d(i,1:mm) = d(i,1:mm)*xx(i1);
-    endfor
-  endif
-
-  retsys = ss (a, b, c, d);
-
-endfunction
--- a/scripts/control/util/axis2dlim.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-## Copyright (C) 1998, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} axis2dlim (@var{axdata})
-## Determine axis limits for 2-D data (column vectors); leaves a 10%
-## margin around the plots.
-## Inserts margins of +/- 0.1 if data is one-dimensional
-## (or a single point).
-##
-## @strong{Input}
-## @table @var
-## @item axdata
-## @var{n} by 2 matrix of data [@var{x}, @var{y}].
-## @end table
-##
-## @strong{Output}
-## @table @var
-## @item axvec
-## Vector of axis limits appropriate for call to @command{axis} function.
-## @end table
-## @end deftypefn
-
-function axvec = axis2dlim (axdata)
-
-  if (nargin < 1 || isempty (axdata))
-    axdata = 0;
-  endif
-
-  ## compute axis limits
-  minv = min (axdata);
-  maxv = max (axdata);
-  delv = (maxv-minv)/2;      # breadth of the plot
-  midv = (minv + maxv)/2;    # midpoint of the plot
-  axmid = [midv(1), midv(1), midv(2), midv(2)];
-  axdel = [-0.1, 0.1, -0.1, 0.1];   # default plot width (if less than 2-d data)
-  if (max (delv) == 0)
-    if (midv(1) != 0)
-      axdel(1:2) = [-0.1*midv(1), 0.1*midv(1)];
-    endif
-    if (midv(2) != 0)
-      axdel(3:4) = [-0.1*midv(2), 0.1*midv(2)];
-    endif
-  else
-    ## they're at least one-dimensional
-    tolv = max(1e-8, 1e-8*abs(midv));
-    if (abs (delv(1)) >= tolv(1))
-      axdel(1:2) = 1.1*[-delv(1),delv(1)];
-    endif
-    if (abs (delv(2)) >= tolv(2))
-      axdel(3:4) = 1.1*[-delv(2),delv(2)];
-    endif
-  endif
-  axvec = axmid + axdel;
-
-endfunction
--- a/scripts/control/util/prompt.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,52 +0,0 @@
-## Copyright (C) 1996, 2000, 2003, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} prompt (@var{str})
-## Prompt user to continue
-##
-## @strong{Input}
-## @table @var
-## @item str
-## Input string. Its default value is:
-## @example
-## \n ---- Press a key to  continue ---
-## @end example
-## @end table
-## @end deftypefn
-
-## Author: David Clem
-## Created: August 15, 1994
-## Modified A. S. Hodel June 1995
-
-function prompt (str)
-
-  if (nargin > 1)
-    print_usage ();
-  elseif (nargin == 0)
-    str = "\n ---- Press a key to continue ---";
-  elseif (! ischar (str))
-    error ("prompt: input must be a string");
-  endif
-
-  disp (str);
-  fflush (stdout);
-  kbhit ();
-
-endfunction
--- a/scripts/control/util/run_cmd.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,31 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2003, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## run_cmd: short script used in demos
-## prints string cmd to the screen, then executes after a pause
-
-disp (["Command: ", cmd])
-puts ("Press a key to execute command");
-fflush (stdout);
-kbhit ();
-disp ("  executing");
-fflush (stdout);
-eval (cmd);
-disp ("---")
-disp (" ")
--- a/scripts/control/util/sortcom.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,104 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{yy}, @var{idx}] =} sortcom (@var{xx}[, @var{opt}])
-## Sort a complex vector.
-##
-## @strong{Inputs}
-## @table @var
-## @item xx
-## Complex vector
-## @item opt
-## sorting option:
-## @table @code
-## @item "re"
-## Real part (default);
-## @item "mag"
-## By magnitude;
-## @item "im"
-## By imaginary part.
-## @end table
-## if @var{opt} is not chosen as @code{"im"}, then complex conjugate pairs are grouped together,
-## @math{a - jb} followed by @math{a + jb}.
-## @end table
-##
-## @strong{Outputs}
-## @table @var
-## @item yy
-## Sorted values
-## @item idx
-## Permutation vector: @code{yy = xx(idx)}
-## @end table
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: June 1995
-
-function [yy, idx] = sortcom (xx, opt)
-
-  if (nargin < 1 || nargin > 2)
-     print_usage ();
-  elseif (! (isvector (xx) || isempty (xx)))
-    error ("sortcom: first argument must be a vector");
-  endif
-
-  if (nargin == 1)
-    opt = "re";
-  else
-    if (! ischar (opt))
-      error ("sortcom: second argument must be a string");
-    endif
-  endif
-
-  if (isempty (xx))
-    yy = idx = [];
-  else
-    if (strcmp (opt, "re"))
-      datavec = real (xx);
-    elseif (strcmp (opt, "im"))
-      datavec = imag (xx);
-    elseif (strcmp (opt, "mag"))
-      datavec = abs (xx);
-    else
-      error ("sortcom: invalid option = %s", opt);
-    endif
-
-    [datavec, idx] = sort (datavec);
-    yy= xx(idx);
-
-    if (strcmp (opt, "re") || strcmp (opt, "mag"))
-      ## sort so that complex conjugate pairs appear together
-
-      ddiff = diff (datavec);
-      zidx = find (ddiff == 0);
-
-      ## sort common datavec values
-      if (! isempty (zidx))
-        for iv = create_set (datavec(zidx))
-          vidx = find (datavec == iv);
-          [vals, imidx] = sort (imag (yy(vidx)));
-          yy(vidx)  = yy(vidx(imidx));
-          idx(vidx) = idx(vidx(imidx));
-        endfor
-      endif
-    endif
-  endif
-endfunction
-
--- a/scripts/control/util/strappend.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,41 +0,0 @@
-## Copyright (C) 1998, 2000, 2004, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} strappend (@var{strlist}, @var{suffix})
-## Append string @var{suffix} to each string in the list @var{strlist}.
-## @end deftypefn
-
-function retval = strappend (strlist, suffix);
-
-  if (nargin != 2)
-    print_usage ();
-  elseif (! is_signal_list (strlist))
-    error ("strlist must be a list of strings (see is_signal_list)");
-  elseif (! (ischar (suffix) && rows (suffix) == 1))
-    error ("suffix must be a single string");
-  endif
-
-  retval = {};
-
-  for ii = 1:length (strlist)
-    retval{ii} = sprintf ("%s%s", strlist{ii}, suffix);
-  endfor
-
-endfunction
--- a/scripts/control/util/swap.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,42 +0,0 @@
-## Copyright (C) 1996, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} swap (@var{inputs})
-## @format
-## [a1,b1] = swap(a,b)
-## interchange a and b
-## @end format
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 24, 1992
-## Conversion to Octave R. Bruce Tenison July 4, 1994
-
-function [a1, b1] = swap (a, b)
-
-  if (nargin != 2)
-    print_usage ();
-  endif
-
-  a1 = b;
-  b1 = a;
-
-endfunction
-
--- a/scripts/control/util/zgfmul.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,104 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{y} =} zgfmul (@var{a}, @var{b}, @var{c}, @var{d}, @var{x})
-## Compute product of @var{zgep} incidence matrix @math{F} with vector @var{x}.
-## Used by @command{zgepbal} (in @command{zgscal}) as part of generalized conjugate gradient
-## iteration.
-## @end deftypefn
-
-## References:
-## ZGEP: Hodel, "Computation of Zeros with Balancing," 1992, submitted to  LAA
-## Generalized CG: Golub and Van Loan, "Matrix Computations, 2nd ed" 1989
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Conversion to Octave July 3, 1994
-
-function y = zgfmul (a, b, c, d, x)
-
-  if (nargin != 5)
-    print_usage ();
-  endif
-
-  [n, m] = size (b);
-  [p, m1] = size (c);
-  nm = n+m;
-  y = zeros (nm+p, 1);
-
-  ## construct F column by column
-  for jj = 1:n
-    Fj = zeros (nm+p, 1);
-
-    ## rows 1:n: F1
-    aridx = complement (jj, find (a(jj,:) != 0));
-    acidx = complement (jj, find (a(:,jj) != 0));
-    bidx = find (b(jj,:) != 0);
-    cidx = find (c(:,jj) != 0);
-
-    Fj(aridx) = Fj(aridx) - 1;      # off diagonal entries of F1
-    Fj(acidx) = Fj(acidx) - 1;
-    ## diagonal entry of F1
-    Fj(jj) = length (aridx) + length (acidx) + length (bidx) + length (cidx);
-
-    ## B' incidence
-    if (! isempty (bidx))
-      Fj(n+bidx) = 1;
-    endif
-
-    ## -C incidence
-    if (! isempty (cidx))
-      Fj(n+m+cidx) = -1;
-    endif
-    y = y + x(jj)*Fj;   # multiply by corresponding entry of x
-  endfor
-
-  for jj = 1:m
-    Fj = zeros (nm+p, 1);
-    bidx = find (b(:,jj) != 0);
-    ## B incidence
-    if (! isempty (bidx))
-      Fj(bidx) = 1;
-    endif
-    didx = find (d(:,jj) != 0);
-    ## D incidence
-    if (! isempty (didx))
-      Fj(n+m+didx) = 1;
-    endif
-    Fj(n+jj) = length(bidx) + length(didx);         # F2 is diagonal
-    y = y + x(n+jj)*Fj;   # multiply by corresponding entry of x
-  endfor
-
-  for jj = 1:p
-    Fj = zeros (nm+p, 1);
-    cidx = find (c(jj,:) != 0);
-    ## -C' incidence
-    if (! isempty (cidx))
-      Fj(cidx) = -1;
-    endif
-    didx = find(d(jj,:) != 0);
-    ## D' incidence
-    if (! isempty (didx))
-      Fj(n+didx) = 1;
-    endif
-    Fj(n+m+jj) = length (cidx) + length (didx);     # F2 is diagonal
-    y = y + x(n+m+jj)*Fj;   # multiply by corresponding entry of x
-  endfor
-
-endfunction
--- a/scripts/control/util/zgfslv.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,82 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} zgfslv (@var{n}, @var{m}, @var{p}, @var{b})
-## Solve system of equations for dense zgep problem.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Converted to Octave by R Bruce Tenison, July 3, 1994
-
-function x = zgfslv (n, m, p, b)
-
-  if (nargin != 4)
-    print_usage ();
-  endif
-
-  nmp = n+m+p;
-  gam1 = (2*n)+m+p;
-  gam2 = n+p;
-  gam3 = n+m;
-
-  G1 = givens (sqrt (m), -sqrt (p))';
-  G2 = givens (m+p, sqrt (n*(m+p)))';
-
-  x = b;
-
-  ## 1) U1 e^n = sqrt(n)e_1^n
-  ## 2) U2 e^m = sqrt(m)e_1^m
-  ## 3) U3 e^p = sqrt(p)e_1^p
-  xdx1 = 1:n;
-  xdx2 = n+(1:m);
-  xdx3 = n+m+(1:p);
-
-  x(xdx1,1) = zgshsr (x(xdx1,1));
-  x(xdx2,1) = zgshsr (x(xdx2,1));
-  x(xdx3,1) = zgshsr (x(xdx3,1));
-
-  ## 4) Givens rotations to reduce stray non-zero elements
-  idx1 = [n+1, n+m+1];
-  idx2 = [1, n+1];
-
-  x(idx1) = G1'*x(idx1);
-  x(idx2) = G2'*x(idx2);
-
-  ## 6) Scale x, then back-transform to get x
-  en = ones (n, 1);
-  em = ones (m, 1);
-  ep = ones (p, 1);
-  lam = [gam1*en; gam2*em; gam3*ep];
-  lam(1) = n+m+p;
-  lam(n+1) = 1;       # dummy value to avoid divide by zero
-  lam(n+m+1) = n+m+p;
-
-  x = x ./ lam;
-  x(n+1) = 0;  # minimum norm solution
-
-  ## back transform now.
-  x(idx2) = G2*x(idx2);
-  x(idx1) = G1*x(idx1);
-  x(xdx3,1) = zgshsr (x(xdx3,1));
-  x(xdx2,1) = zgshsr (x(xdx2,1));
-  x(xdx1,1) = zgshsr (x(xdx1,1));
-
-endfunction
-
--- a/scripts/control/util/zginit.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,98 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{zz} =} zginit (@var{a}, @var{b}, @var{c}, @var{d})
-## Construct right hand side vector @var{zz}
-## for the zero-computation generalized eigenvalue problem
-## balancing procedure.  Called by @command{zgepbal}.
-## @end deftypefn
-
-## References:
-## ZGEP: Hodel, "Computation of Zeros with Balancing," 1992, submitted to  LAA
-## Generalized CG: Golub and Van Loan, "Matrix Computations, 2nd ed" 1989
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 24, 1992
-## Conversion to Octave by R. Bruce Tenison, July 3, 1994
-
-function zz = zginit (a, b, c, d)
-
-  if (nargin != 4)
-    print_usage ();
-  endif
-
-  [nn, mm] = size (b);
-  [pp, mm] = size (d);
-
-  nmp = nn+mm+pp;
-
-  ## set up log vector zz
-  zz = zeros (nmp, 1);
-
-  ## zz part 1:
-  for i = 1:nn
-    ## nonzero off diagonal entries of a
-    if (nn > 1)
-      nidx = complement (i, 1:nn);
-      a_row_i = a(i,nidx);
-      a_col_i = a(nidx,i);
-      arnz = a_row_i(find (a_row_i != 0));
-      acnz = a_col_i(find (a_col_i != 0));
-    else
-      arnz = acnz = [];
-    endif
-
-    ## row of b
-    bidx = find (b(i,:) != 0);
-    b_row_i = b(i,bidx);
-
-    ## column of c
-    cidx = find (c(:,i) != 0);
-    c_col_i = c(cidx,i);
-
-    ## sum the entries
-    zz(i) = sum (log (abs (acnz))) - sum (log (abs (arnz))) ...
-        - sum (log (abs (b_row_i))) + sum (log (abs (c_col_i)));
-  endfor
-
-  ## zz part 2:
-  bd = [b; d];
-  for i = 1:mm
-    i1 = i+nn;
-
-    ## column of [b;d]
-    bdidx = find (bd(:,i) != 0);
-    bd_col_i = bd(bdidx,i);
-    zz(i1) = sum (log (abs(bd_col_i)));
-  endfor
-
-  ## zz part 3:
-  cd = [c, d];
-  for i = 1:pp
-    i1 = i+nn+mm;
-    cdidx = find (cd(i,:) != 0);
-    cd_row_i = cd(i,cdidx);
-    zz(i1) = -sum (log (abs (cd_row_i)));
-  endfor
-
-  ## now set zz as log base 2
-  zz *= (1 / log (2));
-
-endfunction
--- a/scripts/control/util/zgreduce.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,147 +0,0 @@
-## Copyright (C) 1996, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} zgreduce (@var{sys}, @var{meps})
-## Implementation of procedure REDUCE in (Emami-Naeini and Van Dooren,
-## Automatica, # 1982).
-## @end deftypefn
-
-function retsys = zgreduce (Asys, meps)
-
-  if (nargin != 2)
-    print_usage ();
-  endif
-
-  ## SYS_INTERNAL accesses members of system data structure
-
-  is_digital (Asys);            # make sure it's pure digital/continuous
-
-  exit_1 = 0;                   # exit_1 = 1 or 2 on exit of loop
-
-  if (Asys.n + Asys.nz == 0)
-    exit_1 = 2;                 # there are no finite zeros
-  endif
-
-  while (! exit_1)
-    [Q, R, Pi] = qr (Asys.d);              # compress rows of D
-    Asys.d = Q'*Asys.d;
-    Asys.c = Q'*Asys.c;
-
-    ## check row norms of Asys.d
-    [sig, tau] = zgrownorm (Asys.d, meps);
-
-    ## disp("=======================================")
-    ## disp(["zgreduce: meps=",num2str(meps), ", sig=",num2str(sig), ...
-    ##   ", tau=",num2str(tau)])
-    ## sysout(Asys)
-
-    if (tau == 0)
-      exit_1 = 1;               # exit_1 - reduction complete and correct
-    else
-      Cb = Db = [];
-      if (sig)
-        Cb = Asys.c(1:sig,:);
-        Db = Asys.d(1:sig,:);
-      endif
-      Ct = Asys.c(sig+(1:tau),:);
-
-      ## compress columns of Ct
-      [pp, nn] = size (Ct);
-      rvec = nn:-1:1;
-      [V, Sj, Pi] = qr (Ct');
-      V = V(:,rvec);
-      [rho, gnu] = zgrownorm (Sj, meps);
-
-      ## disp(["zgreduce: rho=",num2str(rho),", gnu=",num2str(gnu)])
-      ## Cb
-      ## Db
-      ## Ct
-      ## Sj'
-
-      if (rho == 0)
-        exit_1 = 1;     # exit_1 - reduction complete and correct
-      elseif (gnu == 0)
-        exit_1 = 2;     # there are no zeros at all
-      else
-        mu = rho + sig;
-
-        ## update system with Q
-        M = [Asys.a, Asys.b ];
-        [nn, mm] = size (Asys.b);
-
-        pp = rows(Asys.d);
-        Vm =[V, zeros(nn,mm); zeros(mm,nn), eye(mm)];
-        if (sig)
-          M = [M; Cb, Db];
-          Vs =[V', zeros(nn,sig); zeros(sig,nn), eye(sig)];
-        else
-          Vs = V';
-        endif
-        ## disp("zgreduce: before transform: M=");
-        ## M
-        ## Vs
-        ## Vm
-
-        M = Vs*M*Vm;
-
-        ## disp("zgreduce: after transform: M=");
-        ## M
-
-        ## disp("debugging code:")
-        ## Mtmp = [Asys.a Asys.b; Asys.c Asys.d]
-        ## Vl = [V', zeros(nn,mm); zeros(mm,nn),Q]
-        ## Vr =[V,zeros(nn,mm) ; zeros(mm,nn), eye(mm)];
-        ## Mtmpf = Vl*Mtmp*Vr
-
-        idx = 1:gnu;
-        jdx = nn + (1:mm);
-        sdx = gnu + (1:mu);
-
-        Asys.a = M(idx,idx);
-        Asys.b = M(idx,jdx);
-        Asys.c = M(sdx,idx);
-        Asys.d = M(sdx,jdx);
-
-        ## disp(["zgreduce: resulting system: nn =",num2str(nn)," mu=",num2str(mu)])
-        ## sysout(Asys)
-        ## idx
-        ## jdx
-        ## sdx
-      endif
-    endif
-  endwhile
-
-  ## disp(["zgreduce: while loop done: exit_1=",num2str(exit_1)]);
-
-  if (exit_1 == 2)
-    ## there are no zeros at all!
-    Asys.a = Asys.b = Asys.c = [];
-  endif
-
-  ## update dimensions
-  if (is_digital (Asys))
-    Asys.nz = rows (Asys.a);
-  else
-    Asys.n = rows (Asys.a);
-  endif
-
-  retsys = Asys;
-
-endfunction
--- a/scripts/control/util/zgrownorm.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,40 +0,0 @@
-## Copyright (C) 1996, 2000, 2003, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{nonz}, @var{zer}] =} zgrownorm (@var{mat}, @var{meps})
-## Return @var{nonz} = number of rows of @var{mat} whose two norm
-## exceeds @var{meps}, and @var{zer} = number of rows of mat whose two
-## norm is less than @var{meps}.
-## @end deftypefn
-
-function [sig, tau] = zgrownorm (mat, meps)
-
-  if (nargin != 2)
-    print_usage ();
-  endif
-
-  rownorm = [];
-  for ii = 1:rows (mat)
-    rownorm(ii) = norm (mat(ii,:));
-  endfor
-  sig = sum (rownorm > meps);
-  tau = sum (rownorm <= meps);
-
-endfunction
--- a/scripts/control/util/zgscal.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,153 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{x} =} zgscal (@var{f}, @var{z}, @var{n}, @var{m}, @var{p})
-## Generalized conjugate gradient iteration to
-## solve zero-computation generalized eigenvalue problem balancing equation
-## @math{fx=z}; called by @command{zgepbal}.
-## @end deftypefn
-
-## References:
-## ZGEP: Hodel, "Computation of Zeros with Balancing," 1992, submitted to  LAA
-## Generalized CG: Golub and Van Loan, "Matrix Computations, 2nd ed" 1989
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 24, 1992
-## Conversion to Octave R. Bruce Tenison July 3, 1994
-
-function x = zgscal (a, b, c, d, z, n, m, p)
-
-  if (nargin != 8)
-    print_usage ();
-  endif
-
-  ## initialize parameters:
-  ## Givens rotations, diagonalized 2x2 block of F, gcg vector initialization
-
-  nmp = n+m+p;
-
-  ## x_0 = x_{-1} = 0, r_0 = z
-  x = zeros (nmp, 1);
-  xk1 = x;
-  xk2 = x;
-  rk1 = z;
-  k = 0;
-
-  ## construct balancing least squares problem
-  F = eye (nmp);
-  for kk = 1:nmp
-    F(1:nmp,kk) = zgfmul (a, b, c, d, F(:,kk));
-  endfor
-
-  [U, H, k1] = krylov (F, z, nmp, 1e-12, 1);
-  if (! issquare (H))
-    if (columns (H) != k1)
-      error ("zgscal(tzero): k1=%d, columns(H)=%d", k1, columns (H));
-    elseif (rows (H) != k1+1)
-      error ("zgscal: k1=%d, rows(H) = %d", k1, rows (H));
-    elseif (norm (H(k1+1,:)) > 1e-12*norm (H, "inf"))
-      zgscal_last_row_of_H = H(k1+1,:)
-      error ("zgscal: last row of H nonzero (norm(H)=%e)", norm (H, "inf"))
-    endif
-    H = H(1:k1,1:k1);
-    U = U(:,1:k1);
-  endif
-
-  ## tridiagonal H can still be rank deficient, so do permuted qr
-  ## factorization
-  [qq, rr, pp] = qr (H);   # H = qq*rr*pp'
-  nn = rank (rr);
-  qq = qq(:,1:nn);
-  rr = rr(1:nn,:);            # rr may not be square, but "\" does least
-  xx = U*pp*(rr\qq'*(U'*z));  # squares solution, so this works
-  ## xx1 = pinv(F)*z;
-  ## zgscal_x_xx1_err = [xx,xx1,xx-xx1]
-  return;
-
-  ## the rest of this is left from the original zgscal;
-  ## I've had some numerical problems with the GCG algorithm,
-  ## so for now I'm solving it with the krylov routine.
-
-  ## initialize residual error norm
-  rnorm = norm (rk1, 1);
-
-  xnorm = 0;
-  fnorm = 1e-12 * norm ([a, b; c, d], 1);
-
-  gamk2 = 0;
-  omega1 = 0;
-  ztmz2 = 0;
-
-  ## do until small changes to x
-  len_x = length(x);
-  while ((k < 2*len_x && xnorm > 0.5 && rnorm > fnorm) || k == 0)
-    k++;
-
-    ## solve F_d z_{k-1} = r_{k-1}
-    zk1= zgfslv (n, m, p, rk1);
-
-    ## Generalized CG iteration
-    ## gamk1 = (zk1'*F_d*zk1)/(zk1'*F*zk1);
-    ztMz1 = zk1'*rk1;
-    gamk1 = ztMz1/(zk1'*zgfmul (a, b, c, d, zk1));
-
-    if (rem (k, len_x) == 1)
-      omega = 1;
-    else
-      omega = 1/(1-gamk1*ztMz1/(gamk2*omega1*ztmz2));
-    endif
-
-    ## store x in xk2 to save space
-    xk2 = xk2 + omega*(gamk1*zk1 + xk1 - xk2);
-
-    ## compute new residual error: rk = z - F xk, check end conditions
-    rk1 = z - zgfmul (a, b, c, d, xk2);
-    rnorm = norm (rk1);
-    xnorm = max (abs (xk1 - xk2));
-
-    ## printf("zgscal: k=%d, gamk1=%e, gamk2=%e, \nztMz1=%e ztmz2=%e\n", ...
-    ##   k,gamk1, gamk2, ztMz1, ztmz2);
-    ## xk2_1_zk1 = [xk2 xk1 zk1]
-    ## ABCD = [a,b;c,d]
-    ## prompt
-
-    ## get ready for next iteration
-    gamk2 = gamk1;
-    omega1 = omega;
-    ztmz2 = ztMz1;
-    [xk1, xk2] = swap (xk1, xk2);
-  endwhile
-  x = xk2;
-
-  ## check convergence
-  if (xnorm> 0.5 && rnorm > fnorm)
-    warning ("zgscal(tzero): GCG iteration failed; solving with pinv");
-
-    ## perform brute force least squares; construct F
-    Am = eye (nmp);
-    for ii = 1:nmp
-      Am(:,ii) = zgfmul (a, b, c, d, Am(:,ii));
-    endfor
-
-    ## now solve with qr factorization
-    x = pinv (Am) * z;
-  endif
-
-endfunction
--- a/scripts/control/util/zgsgiv.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,42 +0,0 @@
-## Copyright (C) 1996, 1998, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[a, b] =} zgsgiv (@var{c}, @var{s}, @var{a}, @var{b})
-## Apply givens rotation c,s to row vectors @var{a}, @var{b}.
-## No longer used in zero-balancing (__zgpbal__); kept for backward
-## compatibility.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 29, 1992
-## Convertion to Octave by R. Bruce Tenison July 3, 1994
-
-function [a, b] = zgsgiv (c, s, a, b)
-
-  if (nargin != 4)
-    print_usage ();
-  endif
-
-  t1 = c*a + s*b;
-  t2 = -s*a + c*b;
-  a = t1;
-  b = t2;
-
-endfunction
--- a/scripts/control/util/zgshsr.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,59 +0,0 @@
-## Copyright (C) 1996, 2000, 2002, 2003, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {@var{x} =} zgshsr (@var{y})
-## Apply householder vector based on
-## @iftex
-## @tex
-## $ e^m $
-## @end tex
-## @end iftex
-## @ifinfo
-## @math{e^(m)}
-## @end ifinfo
-## to column vector @var{y}.
-## Called by @command{zgfslv}.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Created: July 24, 1992
-## Conversion to Octave by R. Bruce Tenison July 3, 1994
-
-function x = zgshsr (y)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-
-  if (! isvector (y))
-    error ("y(%dx%d) must be a vector", rows (y), columns (y));
-  endif
-  x = vec (y);
-  m = length (x);
-  if (m > 1)
-    beta = (1 + sqrt (m)) * x(1) + sum (x(2:m));
-    beta /= (m + sqrt (m));
-    x(1) -= (beta * (1 + sqrt (m)));
-    x(2:m) -= (beta * ones (m-1,1));
-  else
-    x = -x;
-  endif
-
-endfunction
--- a/scripts/finance/Makefile.in	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,83 +0,0 @@
-# Makefile for octave's scripts/finance directory
-#
-# Copyright (C) 1999, 2002, 2005, 2006, 2007 John W. Eaton
-#
-# 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 3 of the License, 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, see
-# <http://www.gnu.org/licenses/>.
-
-TOPDIR = ../..
-
-script_sub_dir = finance
-
-srcdir = @srcdir@
-top_srcdir = @top_srcdir@
-VPATH = @srcdir@
-
-include $(TOPDIR)/Makeconf
-
-INSTALL = @INSTALL@
-INSTALL_PROGRAM = @INSTALL_PROGRAM@
-INSTALL_DATA = @INSTALL_DATA@
-
-SOURCES = fv.m fvl.m irr.m nper.m npv.m pmt.m pv.m pvl.m rate.m vol.m
-
-DISTFILES = $(addprefix $(srcdir)/, Makefile.in $(SOURCES))
-
-FCN_FILES = $(addprefix $(srcdir)/, $(SOURCES))
-FCN_FILES_NO_DIR = $(notdir $(FCN_FILES))
-
-all: PKG_ADD
-.PHONY: all
-
-install install-strip:
-	$(do-script-install)
-.PHONY: install install-strip
-
-uninstall:
-	$(do-script-uninstall)
-.PHONY: uninstall
-
-clean:
-.PHONY: clean
-
-PKG_ADD: $(FCN_FILES)
-	@echo "making PKG_ADD"
-	@$(do-mkpkgadd)
-
-tags: $(SOURCES)
-	ctags $(SOURCES)
-
-TAGS: $(SOURCES)
-	etags $(SOURCES)
-
-mostlyclean: clean
-.PHONY: mostlyclean
-
-distclean: clean
-	rm -f Makefile PKG_ADD
-.PHONY: distclean
-
-maintainer-clean: distclean
-	rm -f tags TAGS
-.PHONY: maintainer-clean
-
-dist:
-	ln $(DISTFILES) ../../`cat ../../.fname`/scripts/finance
-.PHONY: dist
-
-check-m-sources:
-	@$(do-check-m-sources)
-.PHONY: check-m-sources
--- a/scripts/finance/fv.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,82 +0,0 @@
-## Copyright (C) 1995, 1996, 1997, 1998, 2000, 2002, 2005, 2006, 2007
-##               Kurt Hornik
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} fv (@var{r}, @var{n}, @var{p}, @var{l}, @var{method})
-## Return the future value at the end of period @var{n} of an investment
-## which consists of @var{n} payments of @var{p} in each period,
-## assuming an interest rate @var{r}.
-##
-## The optional argument @var{l} may be used to specify an
-## additional lump-sum payment.
-##
-## The optional argument @var{method} may be used to specify whether the
-## payments are made at the end (@code{"e"}, default) or at the
-## beginning (@code{"b"}) of each period.
-##
-## Note that the rate @var{r} is specified as a fraction (i.e., 0.05,
-## not 5 percent).
-## @end deftypefn
-
-## Author: KH <Kurt.Hornik@wu-wien.ac.at>
-## Description: Future value of an investment
-
-function v = fv (r, n, p, l, m)
-
-  if (nargin < 3 || nargin > 5)
-    print_usage ();
-  endif
-
-  if (! (isscalar (r) && r > -1))
-    error ("fv: r must be a scalar > -1");
-  elseif (! (isscalar (n) && n > 0))
-    error ("fv: n must be a positive scalar");
-  elseif (! isscalar (p))
-    error ("fv: p must be a scalar");
-  endif
-
-  if (r != 0)
-    v = p * ((1 + r)^n - 1) / r;
-  else
-    v = p * n;
-  endif
-
-  if (nargin > 3)
-    if (nargin == 5)
-      if (! ischar (m))
-        error ("fv: `method' must be a string");
-      endif
-    elseif ischar (l)
-      m = l;
-      l = 0;
-    else
-      m = "e";
-    endif
-    if strcmp (m, "b")
-      v = v * (1 + r);
-    endif
-    if isscalar (l)
-      v = v + fvl (r, n, l);
-    else
-      error ("fv: l must be a scalar");
-    endif
-  endif
-
-endfunction
-
--- a/scripts/finance/fvl.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,49 +0,0 @@
-## Copyright (C) 1995, 1996, 1997, 1998, 2000, 2002, 2005, 2006, 2007
-##               Kurt Hornik
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} fvl (@var{r}, @var{n}, @var{l})
-## Return the future value at the end of @var{n} periods of an initial
-## lump sum investment @var{l}, given a per-period interest rate
-## @var{r}.
-##
-## Note that the rate @var{r} is specified as a fraction (i.e., 0.05,
-## not 5 percent).
-## @end deftypefn
-
-## Author: KH <Kurt.Hornik@wu-wien.ac.at>
-## Description: Future value of an initial lump sum investment
-
-function v = fvl (r, n, l)
-
-  if (nargin != 3)
-    print_usage ();
-  endif
-
-  if (! (isscalar (r) && r > -1))
-    error ("fvl: r has to be a scalar > -1");
-  elseif (! (isscalar (n) && n > 0))
-    error ("fvl: n has to be a positive scalar");
-  elseif (! isscalar (l))
-    error ("fvl: l has to be a scalar");
-  endif
-
-  v = l * (1 + r)^n;
-
-endfunction
\ No newline at end of file
--- a/scripts/finance/irr.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,52 +0,0 @@
-## Copyright (C) 1995, 1996, 1997, 1998, 2000, 2002, 2004, 2005, 2006,
-##               2007 Kurt Hornik
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} irr (@var{p}, @var{i})
-## Return the internal rate of return of a series of payments @var{p}
-## from an initial investment @var{i} (i.e., the solution of
-## @code{npv (r, p) = i}.  If the second argument is omitted, a value of
-## 0 is used.
-## @seealso{npv, pv, rate}
-## @end deftypefn
-
-## Author: KH <Kurt.Hornik@wu-wien.ac.at>
-## Description: Internal rate of return of an investment
-
-function r = irr (p, i)
-
-  if (nargin == 1)
-    i = 0;
-  elseif (! (nargin == 2))
-    print_usage ();
-  endif
-
-  if (! (isvector (p)))
-    error ("irr: p must be a vector");
-  else
-    p_string = cstrcat ("[", sprintf ("%.15f, ", p), "]");
-  endif
-
-  if (! isscalar (i))
-    error ("irr: i must be a scalar");
-  endif
-
-  r = fsolve (sprintf ("npv (x, %s) - %g", p_string, i), 0.01);
-
-endfunction
--- a/scripts/finance/nper.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,83 +0,0 @@
-## Copyright (C) 1995, 1996, 1997, 1998, 2000, 2002, 2004, 2005, 2006,
-##               2007 Kurt Hornik
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} nper (@var{r}, @var{p}, @var{a}, @var{l}, @var{method})
-## Return the number of regular payments of @var{p} necessary to
-## amortize @var{a} loan of amount @var{a} and interest @var{r}.
-##
-## The optional argument @var{l} may be used to specify an additional
-## lump-sum payment of @var{l} made at the end of the amortization time.
-##
-## The optional argument @var{method} may be used to specify whether
-## payments are made at the end (@var{"e"}, default) or at the beginning
-## (@var{"b"}) of each period.
-##
-## Note that the rate @var{r} is specified as a fraction (i.e., 0.05,
-## not 5 percent).
-## @seealso{pv, pmt, rate, npv}
-## @end deftypefn
-
-## Author: KH <Kurt.Hornik@wu-wien.ac.at>
-## Description: Number of payments needed for amortizing a loan
-
-function n = nper (r, p, a, l, m)
-
-  if (nargin < 3 || nargin > 5)
-    print_usage ();
-  endif
-
-  if (! (isscalar (r) && r > -1))
-    error ("nper: r must be a scalar > -1");
-  elseif (! isscalar (p))
-    error ("nper: p must be a scalar");
-  elseif (! isscalar (a))
-    error ("nper: a must be a scalar");
-  endif
-
-  if (nargin == 5)
-    if (! ischar (m))
-      error ("nper: `method' must be a string");
-    endif
-  elseif (nargin == 4)
-    if (ischar (l))
-      m = l;
-      l = 0;
-    else
-      m = "e";
-    endif
-  else
-    m = "e";
-    l = 0;
-  endif
-
-  if (strcmp (m, "b"))
-    p = p * (1 + r);
-  endif
-
-  q = (p - r * a) / (p - r * l);
-
-  if (q > 0)
-    n = - log (q) / log (1 + r);
-  else
-    n = Inf;
-  endif
-
-endfunction
-
--- a/scripts/finance/npv.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,74 +0,0 @@
-## Copyright (C) 1995, 1996, 1997, 1998, 1999, 2000, 2002, 2004, 2005,
-##               2006, 2007 Kurt Hornik
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} npv (@var{r}, @var{p}, @var{i})
-## Returns the net present value of a series of irregular (i.e., not
-## necessarily identical) payments @var{p} which occur at the ends of @var{n}
-## consecutive periods.  @var{r} specifies the one-period interest rates and
-## can either be a scalar (constant rates) or a vector of the same
-## length as @var{p}.
-##
-## The optional argument @var{i} may be used to specify an initial
-## investment.
-##
-## Note that the rate @var{r} is specified as a fraction (i.e., 0.05,
-## not 5 percent).
-## @seealso{irr, pv}
-## @end deftypefn
-
-## Author: KH <Kurt.Hornik@wu-wien.ac.at>
-## Description: Net present value of a series of payments
-
-function v = npv (r, p, i)
-
-  if (nargin < 2 || nargin > 3)
-    print_usage ();
-  endif
-
-  if (! (isvector (p)))
-    error ("npv: p has to be a vector");
-  else
-    n = length (p);
-    p = reshape (p, 1, n);
-  endif
-
-  if (any (any (r <= -1)))
-    error ("npv: all interest rates must be > -1");
-  endif
-  if (isscalar (r))
-    d = 1 ./ (1 + r) .^ (0 : n);
-  elseif (isvector (r) && (length (r) == n))
-    d = [1, (1 ./ cumprod (reshape (1 + r, 1, n)))];
-  else
-    error ("npv: r must be a scalar or a vector of the same length as p");
-  endif
-
-  if (nargin == 3)
-    if (! isscalar (i))
-      error ("npv: I_0 must be a scalar");
-    endif
-  else
-    i = 0;
-  endif
-
-  p = [i, p];
-  v = sum (d .* p);
-
-endfunction
--- a/scripts/finance/pmt.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,78 +0,0 @@
-## Copyright (C) 1995, 1996, 1997, 1998, 2000, 2001, 2002, 2004, 2005,
-##               2006, 2007 Kurt Hornik
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} pmt (@var{r}, @var{n}, @var{a}, @var{l}, @var{method})
-## Return the amount of periodic payment necessary to amortize a loan
-## of amount a with interest rate @var{r} in @var{n} periods.
-##
-## The optional argument @var{l} may be used to specify a terminal
-## lump-sum payment.
-##
-## The optional argument @var{method} may be used to specify whether
-## payments are made at the end (@var{"e"}, default) or at the beginning
-## (@var{"b"}) of each period.
-## @seealso{pv, nper, rate}
-## @end deftypefn
-
-## Author: KH <Kurt.Hornik@wu-wien.ac.at>
-## Description: Amount of periodic payment needed to amortize a loan
-
-function p = pmt (r, n, a, l, m)
-
-  if (nargin < 3 || nargin > 5)
-    print_usage ();
-  endif
-
-  if (! (isscalar (r) && r > -1))
-    error ("pmt: rate must be a scalar > -1");
-  elseif (! (isscalar (n) && n > 0))
-    error ("pmt: n must be a positive scalar");
-  elseif (! (isscalar (a) && a > 0))
-    error ("pmt: a must be a positive scalar");
-  endif
-
-  if (nargin == 5)
-    if (! ischar (m))
-      error ("pmt: `method' must be a string");
-    endif
-  elseif (nargin == 4)
-    if (ischar (l))
-      m = l;
-      l = 0;
-    else
-      m = "e";
-    endif
-  else
-    l = 0;
-    m = "e";
-  endif
-
-  p = r * (a - l * (1 + r)^(-n)) / (1 - (1 + r)^(-n));
-
-  if (strcmp (m, "b"))
-    p = p / (1 + r);
-  endif
-
-
-endfunction
-
-
-
-
--- a/scripts/finance/pv.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,82 +0,0 @@
-## Copyright (C) 1995, 1996, 1998, 2000, 2002, 2004, 2005, 2006, 2007
-##               Kurt Hornik
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} pv (@var{r}, @var{n}, @var{p}, @var{l}, @var{method})
-## Returns the present value of an investment that will pay off @var{p} for @var{n}
-## consecutive periods, assuming an interest @var{r}.
-##
-## The optional argument @var{l} may be used to specify an additional
-## lump-sum payment made at the end of @var{n} periods.
-##
-## The optional argument @var{method} may be used to specify whether
-## payments are made at the end (@code{"e"}, default) or at the
-## beginning (@code{"b"}) of each period.
-##
-## Note that the rate @var{r} is specified as a fraction (i.e., 0.05,
-## not 5 percent).
-## @seealso{pmt, nper, rate, npv}
-## @end deftypefn
-
-## Author: KH <Kurt.Hornik@wu-wien.ac.at>
-## Description: Present value of an investment
-
-function v = pv (r, n, p, l, m)
-
-  if (nargin < 3 || nargin > 5)
-    print_usage ();
-  endif
-
-  if (! (isscalar (r) && r > -1))
-    error ("pv: r must be a scalar > -1");
-  elseif (! (isscalar (n) && n > 0))
-    error ("pv: n must be a positive scalar");
-  elseif (! isscalar (p))
-    error ("pv: p must be a scalar");
-  endif
-
-  if (r != 0)
-    v = p * (1 - (1 + r)^(-n)) / r;
-  else
-    v = p * n;
-  endif
-
-  if (nargin > 3)
-    if (nargin == 5)
-      if (! ischar (m))
-        error ("pv: `method' must be a string");
-      endif
-    elseif (ischar (l))
-      m = l;
-      l = 0;
-    else
-      m = "e";
-    endif
-    if (strcmp (m, "b"))
-      v = v * (1 + r);
-    endif
-    if (isscalar (l))
-      v = v + pvl (r, n, l);
-    else
-      error ("pv: l must be a scalar");
-    endif
-  endif
-
-endfunction
-
--- a/scripts/finance/pvl.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,49 +0,0 @@
-## Copyright (C) 1995, 1996, 1997, 1998, 2000, 2002, 2005, 2006, 2007
-##               Kurt Hornik
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} pvl (@var{r}, @var{n}, @var{p})
-## Return the present value of an investment that will pay off @var{p}
-## in one lump sum at the end of @var{n} periods, given the interest
-## rate @var{r}.
-##
-## Note that the rate @var{r} is specified as a fraction (i.e., 0.05,
-## not 5 percent).
-## @end deftypefn
-
-## Author: KH <Kurt.Hornik@wu-wien.ac.at>
-## Description: Present value of an investment that pays off at the end
-
-function v = pvl (r, n, p)
-
-  if (nargin != 3)
-    print_usage ();
-  endif
-
-  if (! (isscalar (r) && (r > -1)))
-    error ("pvl: r has to be a scalar > -1");
-  elseif (! (isscalar (n) && n > 0))
-    error ("pvl: n has to be a positive scalar");
-  elseif (! isscalar (p))
-    error ("pvl: p has to be a scalar");
-  endif
-
-  v = p / (1 + r)^n;
-
-endfunction
--- a/scripts/finance/rate.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,74 +0,0 @@
-## Copyright (C) 1995, 1996, 1997, 1998, 2000, 2002, 2004, 2005, 2006,
-##               2007 Kurt Hornik
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} rate (@var{n}, @var{p}, @var{v}, @var{l}, @var{method})
-## Return the rate of return on an investment of present value @var{v} which
-## pays @var{p} in @var{n} consecutive periods.
-##
-## The optional argument @var{l} may be used to specify an additional
-## lump-sum payment made at the end of @var{n} periods.
-##
-## The optional string argument @var{method} may be used to specify
-## whether payments are made at the end (@code{"e"}, default) or at the
-## beginning (@code{"b"}) of each period.
-## @seealso{pv, pmt, nper, npv}
-## @end deftypefn
-
-## Author: KH <Kurt.Hornik@wu-wien.ac.at>
-## Description: Rate of return of an investment
-
-function r = rate (n, p, v, l, m)
-
-  if (nargin < 3 || nargin > 5)
-    print_usage ();
-  endif
-
-  if (! (isscalar (n) && n > 0))
-    error ("rate: n must be a positive scalar");
-  elseif (! isscalar (p))
-    error ("rate: p must be a scalar");
-  elseif (! isscalar (v))
-    error ("rate: p must be a scalar");
-  endif
-
-  if (nargin == 5)
-    if (! ischar (m))
-      error ("rate: `method' must be a string");
-    endif
-  elseif (nargin == 4)
-    if (ischar (l))
-      m = l;
-      l = 0;
-    else
-      m = "e";
-    endif
-  else
-    l = 0;
-    m = "e";
-  endif
-
-  if (! isscalar (l))
-    error ("rate: l must be a scalar");
-  endif
-
-  r = fsolve (sprintf ("pv (x, %g, %g, %g, \"%s\") - %g",
-		       n, p, l, m, v), 0);
-
-endfunction
--- a/scripts/finance/vol.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,75 +0,0 @@
-## Copyright (C) 1995, 1996, 1997, 1998, 2000, 2002, 2005, 2006, 2007
-##               Friedrich Leisch
-##
-## 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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} vol (@var{x}, @var{m}, @var{n})
-## Return the volatility of each column of the input matrix @var{x}.
-## The number of data sets per period is given by @var{m} (e.g. the
-## number of data per year if you want to compute the volatility per
-## year).  The optional parameter @var{n} gives the number of past
-## periods used for computation, if it is omitted, a value of 1 is used.
-## If @var{t} is the number of rows of @var{x}, @code{vol} returns the
-## volatility from @code{n*m} to @var{t}.
-## @end deftypefn
-
-## Author: FL <Friedrich.Leisch@ci.tuwien.ac.at>
-## Description: Volatility of financial time series data
-
-function retval = vol (X, m, n)
-
-  if (nargin < 2)
-    print_usage ();
-  endif
-
-  [xr, xc] = size (X);
-
-  if (nargin > 2)
-    if (n * m > xr)
-      error ("vol: I need more data!");
-    endif
-  else
-    n = 1;
-    if (n * m > xr)
-      error ("vol: I need more data!");
-    endif
-  endif
-
-  U = zeros (xr - 1, xc);
-
-  if (all (X))
-    U = X ((2 : xr), :) ./ X((1 : (xr-1)), :);
-  else
-    error ("vol: zero element in X");
-  endif
-
-  U = log(U);
-  U = U - ones (xr - 1, 1) * sum (U) / (xr - 1);
-
-  retval = zeros (xr - n * m, xc);
-
-  retval(1, :) = sumsq (U((1 : n*m), :));
-  for i = 2 : (xr - n * m)
-    retval(i, :) = retval(i - 1, :) ...
-        - U(i - 1, :).^2 + U(i + n * m - 1, :).^2;
-  endfor
-
-  retval = sqrt (retval * m / (n * m - 1));
-
-endfunction
-
--- a/scripts/quaternion/Makefile.in	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,85 +0,0 @@
-# Makefile for octave's scripts/quaternion directory
-#
-# Copyright (C) 1998, 2002, 2005, 2006, 2007 John W. Eaton
-#
-# 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 3 of the License, 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, see
-# <http://www.gnu.org/licenses/>.
-
-TOPDIR = ../..
-
-script_sub_dir = quaternion
-
-srcdir = @srcdir@
-top_srcdir = @top_srcdir@
-VPATH = @srcdir@
-
-include $(TOPDIR)/Makeconf
-
-INSTALL = @INSTALL@
-INSTALL_PROGRAM = @INSTALL_PROGRAM@
-INSTALL_DATA = @INSTALL_DATA@
-
-SOURCES = demoquat.m qconj.m qcoordinate_plot.m qderiv.m \
-  qderivmat.m qinv.m qmult.m qtrans.m qtransv.m qtransvmat.m \
-  quaternion.m
-
-DISTFILES = $(addprefix $(srcdir)/, Makefile.in $(SOURCES))
-
-FCN_FILES = $(addprefix $(srcdir)/, $(SOURCES))
-FCN_FILES_NO_DIR = $(notdir $(FCN_FILES))
-
-all: PKG_ADD
-.PHONY: all
-
-install install-strip:
-	$(do-script-install)
-.PHONY: install install-strip
-
-uninstall:
-	$(do-script-uninstall)
-.PHONY: uninstall
-
-clean:
-.PHONY: clean
-
-PKG_ADD: $(FCN_FILES)
-	@echo "making PKG_ADD"
-	@$(do-mkpkgadd)
-
-tags: $(SOURCES)
-	ctags $(SOURCES)
-
-TAGS: $(SOURCES)
-	etags $(SOURCES)
-
-mostlyclean: clean
-.PHONY: mostlyclean
-
-distclean: clean
-	rm -f Makefile PKG_ADD
-.PHONY: distclean
-
-maintainer-clean: distclean
-	rm -f tags TAGS
-.PHONY: maintainer-clean
-
-dist:
-	ln $(DISTFILES) ../../`cat ../../.fname`/scripts/quaternion
-.PHONY: dist
-
-check-m-sources:
-	@$(do-check-m-sources)
-.PHONY: check-m-sources
--- a/scripts/quaternion/demoquat.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,261 +0,0 @@
-## Copyright (C) 1998, 1999, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} demoquat ()
-## Demonstrate the functions available for manipulating quaternions.
-##
-## Thanks to Mr. Charles Hall, Dr. Don Krupp and Dr. Larry Mullins at
-## NASA's Marshall Space Flight Center for notes and instruction in
-## use and conventions with quaternions.  - A. S. Hodel
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Adapted-By: jwe
-
-function opt = demoquat ()
-
-  opt = 0;
-  quitopt = 5;
-
-  while (opt != quitopt)
-    opt = menu ("Quaternion function demo (c) 1998 A. S. Hodel, a.s.hodel@eng.auburn.edu",
-		"quaternion construction/data extraction",
-		"simple quaternion functions",
-		"transformation functions",
-		"body-inertial frame demo",
-		"Quit");
-
-    switch(opt)
-
-    case(1)
-      printf("Quaternion construction/data extraction\n");
-      help quaternion
-      prompt
-      cmd = "q = quaternion(1,2,3,4)";
-      run_cmd
-      disp("This format stores the i,j,k parts of the quaternion first;")
-      disp("the real part is stored last.")
-      prompt
-      disp(" ")
-      disp("i, j, and k are all square roots of -1; however they do not")
-      disp("commute under multiplication (discussed further with the function")
-      disp("qmult).  Therefore quaternions do not commute under multiplcation:")
-      disp("    q1*q2 != q2*q1 (usually)")
-      prompt
-
-      disp("Quaternions as rotations: unit quaternion to represent")
-      disp("rotation of 45 degrees about the vector [1 1 1]")
-      cmd = "degrees = pi/180; q1 = quaternion([1 1 1],45*degrees)";
-      run_cmd
-      prompt
-      cmd = "real_q = cos(45*degrees/2)";
-      run_cmd
-      printf("The real part of the quaternion q(4) is cos(theta/2).\n----\n\n");
-      cmd = "imag_q = sin(45*degrees/2)*[1 1 1]/norm([1 1 1])"
-      run_cmd
-      disp("The imaginary part of the quaternion is sin(theta/2)*unit vector");
-      disp("The constructed quaternion is a unit quaternion.");
-      prompt
-      disp("Can also extract both forms of the quaternion:")
-      disp("Vector/angle form of 1i + 2j + 3k + 4:")
-      cmd = "[vv,th] = quaternion(q)";
-      run_cmd
-      cmd = "vv_norm = norm(vv)";
-      run_cmd
-      disp("Returns the eigenaxis as a 3-d unit vector");
-      disp("Check values: ")
-      cmd = "th_deg = th*180/pi";
-      run_cmd
-      disp("")
-      disp("This concludes the quaternion construction/extraction demo.");
-      prompt
-
-    case(2)
-      printf("Simple quaternion functions\n");
-      cmd = "help qconj";
-      run_cmd
-      cmd = "degrees = pi/180; q1 = quaternion([1 1 1],45*degrees)";
-      run_cmd
-      cmd = "q2 = qconj(q1)";
-      run_cmd
-      disp("The conjugate changes the sign of the complex part of the")
-      printf("quaternion.\n\n");
-      prompt
-      printf("\n\n\nMultiplication of quaternions:\n");
-      cmd = "help qmult";
-      run_cmd
-      cmd = "help qinv"
-      run_cmd
-      disp("Inverse quaternion: q*qi = qi*q = 1:")
-      cmd = "q1i = qinv(q1)";
-      run_cmd
-      cmd = "one = qmult(q1,q1i)";
-      run_cmd
-
-      printf("Conclusion of simple quaternion functions");
-      prompt
-
-    case(3)
-      printf("Transformation functions\n");
-      disp("A problem with the discussion of coordinate transformations is that");
-      disp("one must be clear on what is being transformed: does a rotation of");
-      disp("theta degrees mean that you're rotating the VECTOR by theta degrees,");
-      disp("also called the 'active convention,' or does it mean that you rotate ");
-      disp("the COORDINATE FRAME by theta degrees, also called the 'passive convention,' ");
-      disp("which is equivalent to rotating the VECTOR by (-theta) degrees.  The");
-      disp("functions in this demo use the active convention.  I'll point out where");
-      disp("this changes the code as the demo runs.");
-      disp("    -- The author");
-      prompt
-      printf("\n\n");
-      disp("Sequences of rotations:")
-      printf("\n\nRotation of a vector by 90 degrees about the reference z axis\n");
-      cmd = "qz = quaternion([0 0 1], pi/2);";
-      disp(cmd) ; eval(cmd);
-      printf("\n\nRotation of a vector by 90 degrees about the reference y axis\n");
-      cmd="qy = quaternion([0 1 0], pi/2);";
-      disp(cmd) ; eval(cmd);
-      printf("\n\nRotation of a vector by 90 degrees about the reference x axis\n");
-      cmd="qx = quaternion([1 0 0], pi/2);";
-      run_cmd
-      printf("\n\nSequence of three rotations: 90 degrees about x, then 90 degrees\n");
-      disp("about y, then 90 degrees about z (all axes specified in the reference frame):");
-      qchk = qmult(qz,qmult(qy,qx));
-      cmd = "[vv,th] = quaternion(qchk), th_deg = th*180/pi";
-      run_cmd
-      disp("The sequence of the three rotations above is equivalent to a single rotation")
-      disp("of 90 degrees about the y axis. Check:");
-      cmd = "err = norm(qchk - qy)";
-      run_cmd
-
-      disp("Transformation of a quaternion by a quaternion:")
-      disp("The three quaternions above were rotations specified about")
-      disp("a single reference frame.  It is often convenient to specify the");
-      disp("eigenaxis of a rotation in a different frame (e.g., when computing");
-      disp("the transformation rotation in terms of the Euler angles yaw-pitch-roll).");
-      cmd = "help qtrans";
-      run_cmd
-      disp("")
-      disp("NOTE: If the passive convention is used, then the above");
-      disp("formula changes to   v = qinv(q)*v*q  instead of ")
-      disp("v = q*v*qinv(q).")
-      prompt
-      disp("")
-      disp("Example: Vectors in Frame 2 are obtained by rotating them from ")
-      disp("   from Frame 1 by 90 degrees about the x axis (quaternion qx)")
-      disp("   A quaternion in Frame 2 rotates a vector by 90 degrees about")
-      disp("   the Frame 2 y axis (quaternion qy).  The equivalent rotation")
-      disp("   in the reference frame is:")
-      cmd = "q_eq = qtrans(qy,qx); [vv,th] = quaternion(q_eq)";
-      run_cmd
-      disp("The rotation is equivalent to rotating about the reference z axis")
-      disp("by 90 degrees (quaternion qz)")
-      prompt
-
-      disp("Transformation of a vector by a quaternion");
-      cmd = "help qtransv";
-      run_cmd
-
-      disp("NOTE: the above formula changes if the passive quaternion ")
-      disp("is used; the cross product term is subtracted instead of added.");
-      prompt
-      disp("Example: rotate the vector [1,1,1] by 90 degrees about the y axis");
-      cmd = "vec_r = qtransv([1,1,1],qy)";
-      run_cmd
-      prompt
-      disp("Equivalently, one may multiply by qtransvmat:")
-      cmd = "help qtransvmat";
-      run_cmd
-      disp("NOTE: the passive quaternion convention would use the transpose")
-      disp("(inverse) of the orthogonal matrix returned by qtransvmat.");
-      prompt
-      cmd = "vec_r_2 = qtransvmat(qy)*[1;1;1]; vec_err = norm(vec_r - vec_r_2)";
-      run_cmd
-
-      disp("")
-      disp("The last transformation function is the derivative of a quaternion")
-      disp("Given rotation rates about the reference x, y, and z axes.");
-      cmd = "help qderivmat";
-      run_cmd
-      disp("")
-      disp("Example:")
-      disp("Frame is rotating about the z axis at 1 rad/s")
-      cmd = "Omega = [0,0,1]; Dmat = qderivmat(Omega)";
-      run_cmd
-      disp("Notice that Dmat is skew symmetric, as it should be.")
-      disp("expm(Dmat*t) is orthogonal, so that unit quaternions remain")
-      disp("unit quaternions as the rotating frame precesses.");
-      disp(" ")
-      disp("This concludes the transformation demo.");
-      prompt;
-
-    case(4)
-      printf("Body-inertial frame demo: Look at the source code for\n");
-      printf("demoquat.m and qcoordinate_plot.m to see how it's done.\n");
-
-      # i,j,k units
-      iv = quaternion(1,0,0,0); jv = quaternion(0,1,0,0);
-      kv = quaternion(0,0,1,0);
-
-      # construct quaternion to desired view.
-      degrees = pi/180; daz = 45*degrees; del = -30*degrees;
-      qazimuth = quaternion([0,0,1],daz);
-      qelevation = quaternion([cos(daz),sin(daz),0],del);
-      qview = qmult(qelevation,qazimuth);
-
-      # inertial frame i, j, k axes.
-      iif = iv; jf = qtrans(jv,iv); kf = qtrans(kv,iv);
-
-      # rotation steps
-      th = 0:5:20; ov = ones(size(th)); myth = [th,max(th)*ov ; 0*ov,th];
-
-      # construct yaw-pitch-roll cartoon
-      for kk=1:length(myth(1,:))
-	thy = myth(1,kk);
-	thp = myth(2,kk);
-
-	qyaw = quaternion([0,0,1],thy*pi/180);
-	[jvy,th] = quaternion(qtrans(jf,qyaw));
-	qpitch = quaternion(jvy(1:3),thp*pi/180);
-	qb = qmult(qpitch, qyaw);
-	qi = quaternion([1, 0, 0],180*degrees);
-
-	printf("yaw=%8.4f, pitch=%8.4f, \n    qbi = (%8.4f)i + (%8.4e)j + (%8.4f)k + (%8.4f)\n",thy,thp, ...
-	  qb(1), qb(2), qb(3), qb(4));
-	[vv,th] = quaternion(qb);
-	printf("      = (vector) = [%8.4f %8.4f %8.4f], th=%5.2f deg\n", ...
-	  vv(1), vv(2), vv(3), th*180/pi);
-	fflush (stdout);
-	qb = qmult(qb,qi);
-	title(sprintf("yaw=%5.2f deg, pitch=%5.2f deg",thy,thp))
-	qcoordinate_plot(qi,qb,qview);
-	drawnow ();
-      endfor
-
-    case(quitopt)
-      printf ("Exiting quaternion demo\n");
-
-    otherwise
-      error ("invalid option %f", opt);
-
-    endswitch
-  endwhile
-
-endfunction
--- a/scripts/quaternion/qconj.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,44 +0,0 @@
-## Copyright (C) 1998, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} qconj (@var{q})
-## Conjugate of a quaternion.
-##
-## @example
-## q = [w, x, y, z] = w*i + x*j + y*k + z
-## qconj (q) = -w*i -x*j -y*k + z
-## @end example
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Adapted-By: jwe
-
-function retval = qconj (q)
-
-  if (nargin != 1 )
-    print_usage ();
-  endif
-
-  [a, b, c, d] = quaternion (q);
-
-  retval = quaternion (-a, -b, -c, d);
-
-endfunction
-
--- a/scripts/quaternion/qcoordinate_plot.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,133 +0,0 @@
-## Copyright (C) 1998, 1999, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} qcoordinate_plot (@var{qf}, @var{qb}, @var{qv})
-## Plot in the current figure a set of coordinate axes as viewed from
-## the orientation specified by quaternion @var{qv}.  Inertial axes are
-## also plotted:
-##
-## @table @var
-## @item qf
-## Quaternion from reference (x,y,z) to inertial.
-## @item qb
-## Quaternion from reference to body.
-## @item qv
-## Quaternion from reference to view angle.
-## @end table
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Adapted-By: jwe
-
-function qcoordinate_plot (qf, qb, qv)
-
-  if (nargin != 3 )
-    print_usage ();
-  endif
-
-  degrees = pi / 180;
-  d180 = 180 * degrees;
-
-  ## construct coordinate transformation to view frame
-
-  cm = qtransvmat(qv);
-
-  p1 = [-1, -1,  1];
-  p2 = [-1, -1, -1];
-  p3 = [ 1, -1, -1];
-  p4 = [ 1, -1,  1];
-  p5 = [-1,  1,  1];
-  p6 = [ 1,  1,  1];
-  p7 = [ 1,  1, -1];
-  p8 = [-1,  1, -1];
-
-  ## outline positive quadrant
-
-  box1 = cm * [p4; p6; p5; p6; p7]';
-
-  ## outline rest of the box
-
-  box2 = cm * [p7; p8; p5; p1; p4; p3; p7; p3; p2; p1; p2; p8]';
-
-  ## compute inertial to body rotation eigenaxis
-  ## qb = qbf*qf => qbf = qb/qf
-  ##
-  ## need to use inverse quaternion to rotate axes
-
-  qbf = qinv (qmult (qb, qinv (qf)));
-
-  [eaxv, th_eig] = quaternion (qbf);
-
-  ## draw 1/3 circle in x-y plane around a unit z axis
-
-  th = (0:-12:-120) * degrees * sign (th_eig);
-  lth = length (th);
-
-  cpts = [0, 0, 0.1*cos(th);
-          0, 0, 0.1*sin(th);
-          0, 1,   1*ones(1,lth)];
-
-  ## rotate the 1/3 circle around eigenaxis of inertial to body rotation
-  ## qez = qe/qz = rotation to get from z axis to eigenaxis.
-  ## This rotates the 1/3 circle from x-y plane to the plane normal to
-  ## eigenaxis
-
-  qez = qmult (qbf, qinv (quaternion (0, 0, 1, 0)));
-  eig_xm = qtransvmat (qez);
-  cpts = cm*eig_xm * cpts;
-
-  ## transform inertial and body quaternions to view coordinates (rotate
-  ## by azimuth, elevation)
-
-  qfm = qtransvmat (qf);
-  qbm = qtransvmat (qf);
-
-  qf = qmult (qv, qf);
-  qb = qmult (qv, qb);
-
-  ## get coordinate axes in inertial and reference frame
-
-  jnk = qtransvmat (qf);
-  ifv = jnk(:,1);
-  jfv = jnk(:,2);
-  kfv = jnk(:,3);
-
-  jnk = qtransvmat (qb);
-  ibv = jnk(:,1);
-  jbv = jnk(:,2);
-  kbv = jnk(:,3);
-
-  axis ([-2, 2, -2, 2], "square");
-
-  [vv, theta] = quaternion (qb);
-
-  xlabel (sprintf ("rotate about eigenaxis %5.2f deg", th_eig/degrees));
-
-  plot ([ibv(1), 0], [ibv(3), 0], "-@11;x (body);",
-        [0, jbv(1)], [0, jbv(3)], "-@21;y (body);",
-        [0, kbv(1)], [0, kbv(3)], "-@32;z (body);",
-        [ifv(1), 0], [ifv(3), 0], "-@13;x (inertial);",
-        [0, jfv(1)], [0, jfv(3)], "-@23;y (inertial);",
-        [0, kfv(1)], [0, kfv(3)], "-@34;z (inertial);",
-        cpts(1,:), cpts(3,:), ".-6 ;eigenaxis;",
-        box2(1,:), box2(3,:), "-4;;",
-        box1(1,:), box1(3,:), "-5;;");
-
-endfunction
--- a/scripts/quaternion/qderiv.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,60 +0,0 @@
-## Copyright (C) 1998, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} qderiv (omega)
-## Derivative of a quaternion.
-##
-## Let Q be a quaternion to transform a vector from a fixed frame to
-## a rotating frame.  If the rotating frame is rotating about the
-## [x, y, z] axes at angular rates [wx, wy, wz], then the derivative
-## of Q is given by
-##
-## @example
-## Q' = qderivmat (omega) * Q
-## @end example
-##
-## If the passive convention is used (rotate the frame, not the vector),
-## then
-##
-## @example
-## Q' = -qderivmat (omega) * Q
-## @end example
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Adapted-By: jwe
-
-function Dmat = qderivmat (Omega)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-
-  Omega = vec (Omega);
-
-  if (length (Omega) != 3)
-    error ("qderivmat: Omega must be a length 3 vector");
-  endif
-
-  Dmat = 0.5 * [      0.0,  Omega(3), -Omega(2),  Omega(1);
-                -Omega(3),       0.0,  Omega(1),  Omega(2);
-                 Omega(2), -Omega(1),       0.0,  Omega(3);
-                -Omega(1), -Omega(2), -Omega(3),       0.0 ];
-endfunction
--- a/scripts/quaternion/qderivmat.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,60 +0,0 @@
-## Copyright (C) 1998, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} qderivmat (@var{omega})
-## Derivative of a quaternion.
-##
-## Let Q be a quaternion to transform a vector from a fixed frame to
-## a rotating frame.  If the rotating frame is rotating about the
-## [x, y, z] axes at angular rates [wx, wy, wz], then the derivative
-## of Q is given by
-##
-## @example
-## Q' = qderivmat (omega) * Q
-## @end example
-##
-## If the passive convention is used (rotate the frame, not the vector),
-## then
-##
-## @example
-## Q' = -qderivmat (omega) * Q.
-## @end example
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Adapted-By: jwe
-
-function Dmat = qderivmat (Omega)
-
-  if (nargin != 1 )
-    print_usage ();
-  endif
-
-  Omega = vec (Omega);
-
-  if (length (Omega) != 3)
-    error ("qderivmat: Omega must be a length 3 vector");
-  endif
-
-  Dmat = 0.5 * [      0.0,  Omega(3), -Omega(2),  Omega(1);
-                -Omega(3),       0.0,  Omega(1),  Omega(2);
-                 Omega(2), -Omega(1),       0.0,  Omega(3);
-                -Omega(1), -Omega(2), -Omega(3),       0.0 ];
-endfunction
--- a/scripts/quaternion/qinv.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,45 +0,0 @@
-## Copyright (C) 1998, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} qinv (@var{q})
-## Return the inverse of a quaternion.
-##
-## @example
-## q = [w, x, y, z] = w*i + x*j + y*k + z
-## qmult (q, qinv (q)) = 1 = [0 0 0 1]
-## @end example
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Adapted-By: jwe
-
-function retval = qinv (q)
-
-  if (nargin !=  1)
-    print_usage ();
-  endif
-
-  if (norm (q) != 0)
-    retval = qconj (q) / sum (q .* q);
-  else
-    error ("qinv: zero quaternion passed!");
-  endif
-
-endfunction
--- a/scripts/quaternion/qmult.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,59 +0,0 @@
-## Copyright (C) 1998, 2000, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} qmult (@var{a}, @var{b})
-## Multiply two quaternions.
-##
-## @example
-## [w, x, y, z] = w*i + x*j + y*k + z
-## @end example
-##
-## @noindent
-## identities:
-##
-## @example
-## i^2 = j^2 = k^2 = -1
-## ij = k                 jk = i
-## ki = j                 kj = -i
-## ji = -k                ik = -j
-## @end example
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Adapted-By: jwe
-
-function retval = qmult (a, b)
-
-  if (nargin != 2 )
-    print_usage ();
-  endif
-
-  [a1, b1, c1, d1] = quaternion (a);
-  [a2, b2, c2, d2] = quaternion (b);
-
-  ri = b1*c2 - c1*b2 + d1*a2 + a1*d2;
-  rj = c1*a2 - a1*c2 + d1*b2 + b1*d2;
-  rk = a1*b2 - b1*a2 + d1*c2 + c1*d2;
-  rr = -(a1*a2 + b1*b2 + c1*c2) + d1*d2;
-
-  retval = quaternion (ri, rj, rk, rr);
-
-endfunction
-
--- a/scripts/quaternion/qtrans.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,43 +0,0 @@
-## Copyright (C) 1998, 2000, 2002, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} qtrans (@var{v}, @var{q})
-## Transform the unit quaternion @var{v} by the unit quaternion @var{q}.
-## Returns @code{@var{v} = @var{q}*@var{v}/@var{q}}.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Adapted-By: jwe
-
-function v = qtrans (v, q)
-
-  if (nargin != 2)
-    print_usage ();
-  endif
-
-  if (! isvector (v) || length (v) != 4)
-    error ("qtrans: v(%d,%d) must be a quaternion", rows (v), columns (v));
-  elseif (! isvector (q) || length (q) != 4)
-    error ("qtrans: q(%d,%d) must be a quaternion", rows (q), columns (q));
-  endif
-
-  v = qmult (q, qmult (v, qinv (q)));
-
-endfunction
--- a/scripts/quaternion/qtransv.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,52 +0,0 @@
-## Copyright (C) 1998, 2000, 2002, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} qtransv (@var{v}, @var{q})
-## Transform the 3-D vector @var{v} by the unit quaternion @var{q}.
-## Return a column vector.
-##
-## @example
-## vi = (2*real(q)^2 - 1)*vb + 2*imag(q)*(imag(q)'*vb)
-##    + 2*real(q)*cross(imag(q),vb)
-## @end example
-##
-## @noindent
-## Where imag(q) is a column vector of length 3.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Adapted-By: jwe
-
-function vi = qtransv (vb, qib)
-
-  if (! isvector (vb) || length (vb) != 3)
-    error ("qtransv: v(%d,%d) must be a 3-D vector", rows (vb), columns (vb));
-  elseif (! isvector (qib) || length (qib) != 4)
-    error ("qtransv: q(%d,%d) must be a quaternion", rows (qib), columns (qib));
-  elseif (max (abs (imag (vb))) + max (abs (imag (qib))) != 0)
-    error ("qtransv: input values must be real");
-  endif
-
-  qr = qib(4);
-  qimag = vec (qib(1:3));
-  vb = vec (vb);
-  vi = (2*qr^2 - 1)*vb + 2*qimag*(qimag'*vb) + 2*qr*cross (qimag, vb);
-
-endfunction
--- a/scripts/quaternion/qtransvmat.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,54 +0,0 @@
-## Copyright (C) 1998, 2000, 2002, 2004, 2005, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {} qtransvmat (@var{qib})
-## Construct a 3x3 transformation matrix from quaternion @var{qib} that
-## is equivalent to rotation of th radians about axis @var{vv}, where
-## @code{[@var{vv}, @var{th}] = quaternion (@var{qib})}.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Adapted-By: jwe
-
-function Aib = qtransvmat (qib)
-
-  if (nargin != 1)
-    print_usage ();
-  endif
-
-  if (! isvector(qib) || length (qib) != 4)
-    error ("qtransvmat: q(%d,%d) must be a quaternion", rows (qib), \
-	   columns (qib));
-  elseif (max (abs (imag (qib))) != 0)
-    error ("qtransvmat: input values must be real");
-  endif
-
-
-  Aib = [(2.*(qib(1)^2 + qib(4)^2) -1.), ...
-	 (2.*(qib(1)*qib(2)-qib(3)*qib(4))), ...
-	 (2.*(qib(1)*qib(3)+qib(2)*qib(4)));
-	 (2.*(qib(1)*qib(2)+qib(3)*qib(4))), ...
-	 (2.*(qib(2)*qib(2)+qib(4)*qib(4))-1.), ...
-	 (2.*(qib(2)*qib(3)-qib(1)*qib(4)));
-	 (2.*(qib(1)*qib(3)-qib(2)*qib(4))), ...
-	 (2.*(qib(2)*qib(3)+qib(1)*qib(4))), ...
-	 (2.*(qib(3)*qib(3)+qib(4)*qib(4))-1.)];
-
-endfunction
--- a/scripts/quaternion/quaternion.m	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,116 +0,0 @@
-## Copyright (C) 1998, 1999, 2000, 2002, 2005, 2006, 2007
-##               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 3 of the License, 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, see
-## <http://www.gnu.org/licenses/>.
-
-## -*- texinfo -*-
-## @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}] =} quaternion (w)
-## @deftypefnx {Function File} {[@var{vv}, @var{theta}] =} quaternion (w)
-## @deftypefnx {Function File} {@var{w} =} quaternion (@var{a}, @var{b}, @var{c}, @var{d})
-## @deftypefnx {Function File} {@var{w} =} quaternion (@var{vv}, @var{theta})
-## Construct or extract a quaternion
-##
-## @example
-## w = a*i + b*j + c*k + d
-## @end example
-##
-## @noindent
-## from given data.
-## @end deftypefn
-
-## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
-## Adapted-By: jwe
-
-function [a, b, c, d] = quaternion (w, x, y, z)
-
-  switch (nargin)
-    case(1)
-      if (! (isvector (w) && length (w) == 4))
-	error ("input vector must be of length 4)");
-      endif
-      ## extract data
-      switch (nargout)
-	case(4)
-	  a = w(1);
-	  b = w(2);
-	  c = w(3);
-	  d = w(4);
-
-	case(2)
-	  if (abs (norm (w) - 1) > 1e-12)
-	    warning ("quaternion: ||w||=%e, setting=1 for vv, theta", norm(w));
-	    w = w/norm(w);
-	  endif
-	  [a, b, c, d] = quaternion (w);
-	  theta = acos (d) * 2;
-	  if (abs (theta) > pi)
-	    theta = theta - sign (theta) * pi;
-	  endif
-	  sin_th_2 = norm ([a, b, c]);
-
-	  if (sin_th_2 != 0)
-	    vv = [a, b, c] / sin_th_2;
-	  else
-	    vv = [a, b, c];
-	  endif
-	  a = vv;
-	  b = theta;
-	otherwise
-	  print_usage ();
-      endswitch
-
-  case(2)
-    if (nargout != 1)
-      print_usage ();
-    endif
-    vv = w;
-    theta = x;
-
-    if (! isvector (vv) || length (vv) != 3)
-      error ("vv must be a length three vector");
-    elseif (! isscalar (theta))
-      error ("theta must be a scalar");
-    elseif (norm (vv) == 0)
-      error ("quaternion: vv is zero");
-    elseif (abs (norm (vv) - 1) > 1e-12)
-      warning ("quaternion: ||vv|| != 1, normalizing")
-      vv = vv / norm (vv);
-    endif
-
-    if (abs (theta) > 2*pi)
-      warning ("quaternion: |theta| > 2 pi, normalizing")
-      theta = rem (theta, 2*pi);
-    endif
-    vv = vv * sin (theta / 2);
-    d = cos (theta / 2);
-    a = quaternion (vv(1), vv(2), vv(3), d);
-
-  case(4)
-    if (nargout != 1)
-      print_usage ();
-    endif
-    if (! (isscalar (w) && isscalar (x) && isscalar (y) && isscalar (z)))
-      error ("input values must be scalars");
-    endif
-    a = [w, x, y, z];
-
-  otherwise
-    print_usage ();
-
-  endswitch
-
-endfunction
--- a/scripts/quaternion/quaternion.ps	Tue Jul 29 00:13:28 2008 -0400
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,8786 +0,0 @@
-%!PS (but not EPSF; comments have been disabled)
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-%DVIPSParameters: dpi=600, compressed, comments removed
-%DVIPSSource:  TeX output 1998.10.23:1515
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-Fl(\002)e Fq(4)31 b(matrix)f(is)f(sk)m(ew)i(symmetric)f(\(hence)h(its)e
-(matrix)h(exp)s(onen)m(tial)f(is)h(orthogonal\).)0 4806
-y Fp(References)0 5009 y Fq([Mul])127 b(Larry)30 b(Mullins.)37
-b(Course)30 b(4160:)43 b(Quaternions.)c(Course)30 b(notes.)0
-5192 y([R)-10 b(W91])47 b(M.)41 b(H.)g(Rheinfurth)d(and)h(H.)i(B.)g
-(Wilson.)70 b(Metho)s(ds)40 b(of)h(applied)d(dynamics.)69
-b(T)-8 b(ec)m(hnical)40 b(Rep)s(ort)337 5305 y(NASA)30
-b(RP-1262,)j(NASA,)e(George)h(C.)e(Marshall)f(Space)h(Fligh)m(t)g(Cen)m
-(ter,)h(1991.)p eop
-14 13 bop 0 527 a Fp(Index)0 709 y Fq(conjugate)166 821
-y(quaternion,)30 b(3)0 1017 y(Euler)f(angles)166 1130
-y(quaternions,)g(6)0 1326 y(Octa)m(v)m(e)166 1439 y Fj(qinv)p
-Fq(,)h(3)166 1552 y Fj(qmult)p Fq(,)f(3)166 1665 y Fj(qtrans)p
-Fq(,)g(4)166 1778 y(qtransv,)h(8)166 1891 y(qtransvmat,)h(8)166
-2004 y Fj(quaternion)p Fq(,)d(2)0 2200 y(quaternions)166
-2313 y(as)j(co)s(ordinate)f(rotations,)h(3)166 2425 y(co)s(ordinate)f
-(transformation,)g(4)166 2538 y(co)s(ordinate)g(transformation)g
-(matrices,)h(6)166 2651 y(cross)g(pro)s(ducts,)e(2)166
-2764 y(de\014nition,)f(2)166 2877 y(deriv)-5 b(ativ)m(es,)30
-b(12)166 2990 y(Euler)f(angles,)h(6)166 3103 y(m)m(ultiplication,)e(2)
-166 3216 y(unit)h(quaternions,)g(3)1905 5656 y(14)p eop
-end
-userdict /end-hook known{end-hook}if