Mercurial > octave-nkf
changeset 3438:2e06c3941943
[project @ 2000-01-14 06:33:18 by jwe]
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--- a/scripts/ChangeLog Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/ChangeLog Fri Jan 14 06:34:24 2000 +0000 @@ -1,3 +1,20 @@ +2000-01-14 John W. Eaton <jwe@bevo.che.wisc.edu> + + * control/system/__abcddims__.m: Rename from + control/system/abcddims.m, change all callers. + * control/base/__bodquist__.m: Likewise. + * control/base/__freqresp__.m: Likewise. + * control/util/__outlist__.m: Likewise. + * control/base/__stepimp__.m: Likewise. + * control/system/__syschnamesl__.m: Likewise. + * control/system/__syscont_disc__.m: Likewise. + * control/system/__sysdefioname__.m: Likewise. + * control/system/__sysdefstname__.m: Likewise. + * control/system/__sysgroupn__.m: Likewise. + * control/system/__tf2sysl__.m: Likewise. + * control/util/__zgpbal__.m: Likewise. + * control/system/__zp2ssg2__.m: Likewise. + 2000-01-13 John W. Eaton <jwe@bevo.che.wisc.edu> * control/base/Makefile.in: Ditto.
--- a/scripts/control/base/__bodquist__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/__bodquist__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{f}, @var{w}] =} bodquist (@var{sys}, @var{w}, @var{out_idx}, @var{in_idx}) +## @deftypefn {Function File} {[@var{f}, @var{w}] =} __bodquist__ (@var{sys}, @var{w}, @var{out_idx}, @var{in_idx}) ## used internally by bode, nyquist; compute system frequency response. ## ## @strong{Inputs} @@ -31,7 +31,7 @@ ## @item in_idx ## list of inputs; empty if user wants all ## @item rname -## name of routine that called bodquist ("bode" or "nyquist") +## name of routine that called __bodquist__ ("bode" or "nyquist") ## @end table ## @strong{Outputs} ## @table @var @@ -40,21 +40,21 @@ ## @item f ## frequency response of sys; @math{f(ii) = f(omega(ii))} ## @end table -## @strong{Note} bodquist could easily be incorporated into a Nichols +## @strong{Note} __bodquist__ could easily be incorporated into a Nichols ## plot function; this is in a "to do" list. ## ## Both bode and nyquist share the same introduction, so the common parts are -## in bodquist. It contains the part that finds the number of arguments, +## in __bodquist__. It contains the part that finds the number of arguments, ## determines whether or not the system is SISO, and computes the frequency ## response. Only the way the response is plotted is different between the ## two functions. ## @end deftypefn -function [f, w] = bodquist (sys, w, outputs, inputs, rname) +function [f, w] = __bodquist__ (sys, w, outputs, inputs, rname) ## check number of input arguments given if (nargin != 5) - usage("[f,w] = bodquist(sys,w,outputs,inputs,rname)"); + usage ("[f, w] = __bodquist__ (sys, w, outputs, inputs, rname)"); endif ## check each argument to see if it's in the correct form @@ -62,7 +62,7 @@ error("sys must be a system data structure"); endif - ## let freqresp determine w if it's not already given + ## let __freqresp__ determine w if it's not already given USEW = freqchkw(w); ## get initial dimensions (revised below if sysprune is called) @@ -86,7 +86,7 @@ endif ## get system frequency response - [f,w] = freqresp(sys,USEW,w); + [f, w] = __freqresp__ (sys, USEW, w); phase = arg(f)*180.0/pi; @@ -132,11 +132,12 @@ if(isempty(wnew)) # all small crossovers pcnt = 0; else - [fnew,wnew] = freqresp(sys,1,wnew); # get new freq resp points - w = [w,wnew]; # combine with old freq resp - f = [f,fnew]; - [w,idx] = sort(w); # sort into order - f = f(idx); + ## 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
--- a/scripts/control/base/__freqresp__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/__freqresp__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {@var{out} =} freqresp (@var{sys}, @var{USEW}@{,@var{w}@}); +## @deftypefn {Function File} {@var{out} =} __freqresp__ (@var{sys}, @var{USEW}@{,@var{w}@}); ## Frequency response function - used internally by @code{bode}, @code{nyquist}. ## minimal argument checking; "do not attempt to do this at home" ## @@ -42,7 +42,7 @@ ## Author: R. Bruce Tenison <btenison@eng.auburn.edu> ## Created: July 11, 1994 -function [ff, w] = freqresp (sys, USEW, w); +function [ff, w] = __freqresp__ (sys, USEW, w); ## SYS_INTERNAL accesses members of system data structure @@ -50,13 +50,13 @@ empty_list_elements_ok = 1; ## Check Args - if( (nargin < 2) || (nargin > 4) ) - usage ("[ff,w] = freqresp(sys,USEW{,w})"); - 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; + if ((nargin < 2) || (nargin > 4)) + usage ("[ff, w] = __freqresp__ (sys, USEW, w)"); + 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);
--- a/scripts/control/base/__stepimp__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/__stepimp__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{y}, @var{t}] = } stepimp (@var{sitype}, @var{sys} [, @var{inp}, @var{tstop}, @var{n}]) +## @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. @@ -34,11 +34,11 @@ ## Created: October 2, 1997 ## based on lsim.m of Scottedward Hodel -function [y, t] = stepimp (sitype, sys, inp, tstop, n) +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.") + else error("__stepimp__: invalid sitype argument.") endif sys = sysupdate(sys,"ss"); @@ -59,7 +59,7 @@ if (DIGITAL) NSTATES = ndstates; if (TSAMPLE < eps) - error("stepimp: sampling time of discrete system too small.") + error("__stepimp__: sampling time of discrete system too small.") endif else NSTATES = ncstates; endif if (NSTATES < 1) @@ -110,7 +110,7 @@ if (nargin == 5) n = round(n); if (n < 2) - error("stepimp: n must not be less than 2.") + error("__stepimp__: n must not be less than 2.") endif else if (nargin == 4)
--- a/scripts/control/base/bode.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/bode.m Fri Jan 14 06:34:24 2000 +0000 @@ -41,7 +41,7 @@ ## @strong{ Default} the default frequency range is selected as follows: (These ## steps are NOT performed if @var{w} is specified) ## @enumerate -## @item via routine bodquist, isolate all poles and zeros away from +## @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 @@ -126,7 +126,7 @@ error ("bode: invalid value of plot_style specified"); endif - [f, w] = bodquist(sys,w,outputs,inputs,"bode"); + [f, w] = __bodquist__ (sys, w, outputs, inputs, "bode"); [stname,inname,outname] = sysgetsignals(sys); systsam = sysgettsam(sys); @@ -162,9 +162,9 @@ else title([ "||Y(", tistr, ")/U(", tistr, ")||"]); disp("MIMO plot from") - disp(outlist(inname," ")); + disp(__outlist__(inname," ")); disp("to") - disp(outlist(outname," ")); + disp(__outlist__(outname," ")); endif wv = [min(w), max(w)]; if(do_db_plot && max(mag) > 0)
--- a/scripts/control/base/bode_bounds.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/bode_bounds.m Fri Jan 14 06:34:24 2000 +0000 @@ -22,7 +22,7 @@ ## poles and zeros. ## Frequency range is the interval [10^wmin,10^wmax] ## -## Used internally in freqresp (@code{bode}, @code{nyquist}) +## Used internally in __freqresp__ (@code{bode}, @code{nyquist}) ## @end deftypefn function [wmin, wmax] = bode_bounds (zer, pol, DIGITAL, tsam)
--- a/scripts/control/base/bodquist.m Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,156 +0,0 @@ -## Copyright (C) 1996, 1998 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {[@var{f}, @var{w}] =} bodquist (@var{sys}, @var{w}, @var{out_idx}, @var{in_idx}) -## used internally by bode, 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 -## list of outputs; empty if user wants all -## @item in_idx -## list of inputs; empty if user wants all -## @item rname -## name of routine that called bodquist ("bode" or "nyquist") -## @end table -## @strong{Outputs} -## @table @var -## @item w -## list of frequencies -## @item f -## frequency response of sys; @math{f(ii) = f(omega(ii))} -## @end table -## @strong{Note} bodquist could easily be incorporated into a Nichols -## plot function; this is in a "to do" list. -## -## Both bode and 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 SISO, and computes the frequency -## response. Only the way the response is plotted is different between the -## two functions. -## @end deftypefn - -function [f, w] = bodquist (sys, w, outputs, inputs, rname) - - ## check number of input arguments given - if (nargin != 5) - usage("[f,w] = bodquist(sys,w,outputs,inputs,rname)"); - endif - - ## check each argument to see if it's in the correct form - if (!is_struct(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([rname,": outputs specified but not inputs"]); - 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 = zp2sys(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 = vec(find(pd > dphase)); - - lp = length(f); lp1 = lp-1; # relative variation - fd = abs(diff(f)); - fm = max(abs([f(1:lp1); f(2:lp)])); - fdbig = vec(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 - [fnew,wnew] = freqresp(sys,1,wnew); # get new freq resp points - w = [w,wnew]; # combine with old freq resp - f = [f,fnew]; - [w,idx] = sort(w); # sort into order - 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); - -endfunction
--- a/scripts/control/base/frdemo.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/frdemo.m Fri Jan 14 06:34:24 2000 +0000 @@ -137,7 +137,7 @@ disp(cmd); eval(cmd); cmd = "[nn,nz] = sysdimensions(sys2);"; disp(cmd); eval(cmd); - cmd = "sys2 = syssetsignals(sys2,\"st\",sysdefioname(nn+nz,\"x_sys2\"));"; + cmd = "sys2 = syssetsignals(sys2,\"st\",__sysdefioname__(nn+nz,\"x_sys2\"));"; disp(cmd); eval(cmd); cmd = "sys_mimo = sysgroup(sys2,sys3);"; disp(cmd); eval(cmd); @@ -268,7 +268,7 @@ 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\"));"; + cmd = "sys2 = syssetsignals(sys2,\"st\",__sysdefioname__(nn+nz,\"x_sys2\"));"; disp(cmd); eval(cmd); cmd = "sys_mimo = sysgroup(sys2,sys3);"; disp(cmd); eval(cmd); @@ -419,7 +419,7 @@ 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\"));"; + cmd = "sys2 = syssetsignals(sys2,\"st\",__sysdefioname__(nn+nz,\"x_sys2\"));"; disp(cmd); eval(cmd); cmd = "sys_mimo = sysgroup(sys2,sys3);"; disp(cmd); eval(cmd);
--- a/scripts/control/base/freqchkw.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/freqchkw.m Fri Jan 14 06:34:24 2000 +0000 @@ -18,7 +18,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {@var{retval} =} freqchkw (@var{w}) -## Used by @code{freqresp} to check that input frequency vector @var{w} +## Used by @code{__freqresp__} to check that input frequency vector @var{w} ## is valid. ## Returns boolean value. ## @end deftypefn
--- a/scripts/control/base/freqresp.m Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,133 +0,0 @@ -## Copyright (C) 1996, 1998 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {@var{out} =} freqresp (@var{sys}, @var{USEW}@{,@var{w}@}); -## Frequency response function - used internally by @code{bode}, @code{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 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 - - save_val = empty_list_elements_ok; - empty_list_elements_ok = 1; - - ## Check Args - if( (nargin < 2) || (nargin > 4) ) - usage ("[ff,w] = freqresp(sys,USEW{,w})"); - 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)); - - ## restore global variable - empty_list_elements_ok = save_val; -endfunction -
--- a/scripts/control/base/impulse.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/impulse.m Fri Jan 14 06:34:24 2000 +0000 @@ -41,7 +41,7 @@ ## @strong{Outputs} ## @var{y}, @var{t}: impulse response ## @end deftypefn -## @seealso{step and stepimp} +## @seealso{step and __stepimp__} ## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de> ## Created: October 2, 1997 @@ -50,39 +50,39 @@ function [y, t] = impulse (sys, inp, tstop, n) - if((nargin < 1) || (nargin > 4)) - usage("[y, u] = impulse(sys[, inp, tstop, n])"); + if ((nargin < 1) || (nargin > 4)) + usage ("[y, u] = impulse (sys, inp, tstop, n)"); endif - if(nargout > 2) - usage("[y, u] = impulse(sys[, inp, tstop, n])"); + if (nargout > 2) + usage ("[y, u] = impulse (sys, inp, tstop, n)"); endif - if(!is_struct(sys)) - error("impulse: sys must be a system data structure."); + if (! is_struct (sys)) + error ("impulse: sys must be a system data structure."); endif if (nargout == 0) switch (nargin) case (1) - stepimp(2, sys); + __stepimp__ (2, sys); case (2) - stepimp(2, sys, inp); + __stepimp__ (2, sys, inp); case (3) - stepimp(2, sys, inp, tstop); + __stepimp__ (2, sys, inp, tstop); case (4) - stepimp(2, sys, inp, tstop, n); + __stepimp__ (2, sys, inp, tstop, n); endswitch else switch (nargin) case (1) - [y, t] = stepimp(2, sys); + [y, t] = __stepimp__ (2, sys); case (2) - [y, t] = stepimp(2, sys, inp); + [y, t] = __stepimp__ (2, sys, inp); case (3) - [y, t] = stepimp(2, sys, inp, tstop); + [y, t] = __stepimp__ (2, sys, inp, tstop); case (4) - [y, t] = stepimp(2, sys, inp, tstop, n); + [y, t] = __stepimp__ (2, sys, inp, tstop, n); endswitch endif
--- a/scripts/control/base/nichols.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/nichols.m Fri Jan 14 06:34:24 2000 +0000 @@ -29,7 +29,7 @@ ## (the system sampling time) ## default: the default frequency range is selected as follows: (These ## steps are NOT performed if w is specified) -## (1) via routine bodquist, isolate all poles and zeros away from +## (1) via routine __bodquist__, isolate all poles and zeros away from ## w=0 (jw=0 or exp(jwT)=1) and select the frequency ## range based on the breakpoint locations of the frequencies. ## (2) if sys is discrete time, the frequency range is limited @@ -66,7 +66,7 @@ inputs = []; endif - [f, w] = bodquist(sys,w,outputs,inputs,"nichols"); + [f, w] = __bodquist__ (sys, w, outputs, inputs, "nichols"); [stname,inname,outname] = sysgetsignals(sys); systsam = sysgettsam(sys); @@ -98,8 +98,8 @@ sysgetsignals(sys,"in",1,1), ", y=",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," ")); + printf("MIMO plot from\n%s\nto\n%s\n",__outlist__(inname," "), ... + __outlist__(outname," ")); endif if(max(mag) > 0) ylabel("Gain in dB");
--- a/scripts/control/base/nyquist.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/nyquist.m Fri Jan 14 06:34:24 2000 +0000 @@ -38,7 +38,7 @@ ## steps are NOT performed if @var{w} is specified) ## @end table ## @enumerate -## @item via routine bodquist, isolate all poles and zeros away from +## @item via routine __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 @@ -93,7 +93,7 @@ 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 + ## 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. @@ -117,9 +117,9 @@ error("atol must be a nonnegative scalar.") endif - ## signal to bodquist who's calling + ## signal to __bodquist__ who's calling - [f,w] = bodquist(sys,w,outputs,inputs,"nyquist"); + [f, w] = __bodquist__ (sys, w, outputs, inputs, "nyquist"); ## Get the real and imaginary part of f. realp = real(f);
--- a/scripts/control/base/step.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/step.m Fri Jan 14 06:34:24 2000 +0000 @@ -43,7 +43,7 @@ ## ## When invoked with the output paramter y the plot is not displayed. ## @end deftypefn -## @seealso{impulse and stepimp} +## @seealso{impulse and __stepimp__} ## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de> ## Created: September 30, 1997 @@ -51,39 +51,39 @@ function [y, t] = step (sys, inp, tstop, n) - if((nargin < 1) || (nargin > 4)) - usage("[y, u] = step(sys[, inp, tstop, n])"); + if ((nargin < 1) || (nargin > 4)) + usage ("[y, u] = step(sys, inp, tstop, n)"); endif - if(nargout > 2) - usage("[y, u] = step(sys[, inp, tstop, n])"); + if (nargout > 2) + usage ("[y, u] = step (sys, inp, tstop, n)"); endif - if(!is_struct(sys)) - error("step: sys must be a system data structure."); + if (! is_struct (sys)) + error ("step: sys must be a system data structure."); endif if (nargout == 0) switch (nargin) case (1) - stepimp(1, sys); + __stepimp__ (1, sys); case (2) - stepimp(1, sys, inp); + __stepimp__ (1, sys, inp); case (3) - stepimp(1, sys, inp, tstop); + __stepimp__ (1, sys, inp, tstop); case (4) - stepimp(1, sys, inp, tstop, n); + __stepimp__ (1, sys, inp, tstop, n); endswitch else switch (nargin) case (1) - [y, t] = stepimp(1, sys); + [y, t] = __stepimp__ (1, sys); case (2) - [y, t] = stepimp(1, sys, inp); + [y, t] = __stepimp__ (1, sys, inp); case (3) - [y, t] = stepimp(1, sys, inp, tstop); + [y, t] = __stepimp__ (1, sys, inp, tstop); case (4) - [y, t] = stepimp(1, sys, inp, tstop, n); + [y, t] = __stepimp__ (1, sys, inp, tstop, n); endswitch endif
--- a/scripts/control/base/stepimp.m Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,279 +0,0 @@ -## Copyright (C) 1996, 1998 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {[@var{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 sys. -## -## Limited argument checking; "do not attempt to do this at home". -## Used internally in @code{impulse}, @code{step}. Use @code{step} -## or @code{impulse} instead. -## @end deftypefn -## @seealso{step and impulse} - -## 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("Argument inp out of range") - endif - - DIGITAL = is_digital(sys); - if (DIGITAL) - NSTATES = ndstates; - if (TSAMPLE < eps) - error("stepimp: sampling time of discrete system too small.") - endif - else NSTATES = ncstates; endif - if (NSTATES < 1) - error("step: 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(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 - else - x = zeros(NSTATES, 1); - for i = 1:n - y(:,i) = C * x + D; - x = F * x + G; - endfor - endif - - if(nargout == 0) - ## Plot the information - oneplot(); - gset nogrid - gset nologscale - gset autoscale - gset nokey - clearplot(); - if (gnuplot_has_multiplot) - if (IMPULSE) - gm = zeros(NOUT, 1); - tt = "impulse"; - else - ssys = ss2sys(F, G, C, D, t_step); - gm = dcgain(ssys); - tt = "step"; - endif - ncols = floor(sqrt(NOUT)); - nrows = ceil(NOUT / ncols); - for i = 1:NOUT - subplot(nrows, ncols, i); - title(sprintf("%s: | %s -> %s", tt,sysgetsignals(sys,"in",inp,1), ... - sysgetsignals(sys,"out",i,1))); - 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 - grid("on"); - xlabel("time [s]"); - ylabel("y(t)"); - plot(ts, yy); - else - if (length(gm) > 0) - yy = [y(i,:); gm(i)*ones(size(t))]; - else - yy = y(i,:); - endif - grid("on"); - xlabel("time [s]"); - ylabel("y(t)"); - plot(t, yy); - endif - endfor - ## leave gnuplot in multiplot mode is bad style - oneplot(); - else - ## plot everything in one diagram - title([tt, " response | ", sysgetsignals(sys,"in",inp,1), ... - " -> all outputs"]); - if (DIGITAL) - stairs(t, y(i,:)); - else - grid("on"); - xlabel("time [s]"); - ylabel("y(t)"); - plot(t, y(i,:)); - endif - endif - y=[]; - t=[]; - endif - ## printf("##STEPIMP-DEBUG: gratulations, successfull completion.\n"); -endfunction
--- a/scripts/control/base/tzero.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/base/tzero.m Fri Jan 14 06:34:24 2000 +0000 @@ -78,7 +78,7 @@ ## First, balance the system via the zero computation generalized eigenvalue ## problem balancing method (Hodel and Tiller, Linear Alg. Appl., 1992) - Asys = zgpbal(Asys); [A,B,C,D] = sys2ss(Asys); # balance coefficients + Asys = __zgpbal__ (Asys); [A,B,C,D] = sys2ss(Asys); # balance coefficients meps = 2*eps*norm ([A, B; C, D], "fro"); Asys = zgreduce(Asys,meps); [A, B, C, D] = sys2ss(Asys); # ENVD algorithm if(!isempty(A))
--- a/scripts/control/system/__abcddims__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/__abcddims__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{y}, @var{my}, @var{ny}] =} abcddims (@var{x}) +## @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}. @@ -27,7 +27,7 @@ ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> ## Created: February 1997 -function [y, my, ny] = abcddims (x) +function [y, my, ny] = __abcddims__ (x) y = x; if(isempty(y))
--- a/scripts/control/system/__syschnamesl__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/__syschnamesl__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {@var{old_names} =} syschnamesl (@var{olist}, @var{old_names}, @var{inames}, @var{listname}) +## @deftypefn {Function File} {@var{old_names} =} __syschnamesl__ (@var{olist}, @var{old_names}, @var{inames}, @var{listname}) ## used internally in syschnames ## item olist: index list ## old_names: original list names @@ -27,7 +27,7 @@ ## combines the two string lists old_names and inames ## @end deftypefn -function old_names = syschnamesl (olist, old_names, inames, listname) +function old_names = __syschnamesl__ (olist, old_names, inames, listname) probstr = []; if( max(olist) > rows(old_names) ) @@ -79,9 +79,9 @@ if(!isempty(probstr)) ## the following lines are NOT debugging code! disp("Problem in syschnames: old names are") - outlist(old_names," ") + __outlist__(old_names," ") disp("new names are") - outlist(inames," ") + __outlist__(inames," ") disp("list indices are") disp(olist) error(sprintf("syschnames: \"%s\" dim=(%d x %d)--\n\t%s\n", ... @@ -90,18 +90,18 @@ ## change zeros to blanks if( find(old_names == 0) ) - ## disp("syschnamesl: old_names contains zeros ") + ## disp("__syschnamesl__: old_names contains zeros ") ## old_names - ## disp("/syschnamesl"); + ## 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 ") + ## disp("__syschnamesl__: old_names fixed zeros ") ## old_names - ## disp("/syschnamesl"); + ## disp("/__syschnamesl__"); endif ## just in case it's not a string anymore @@ -109,8 +109,8 @@ old_names = setstr(old_names); endif - ## disp("syschnamesl: exit, old_names=") + ## disp("__syschnamesl__: exit, old_names=") ## old_names - ## disp("/syschnamesl: exiting") + ## disp("/__syschnamesl__: exiting") endfunction
--- a/scripts/control/system/__syscont_disc__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/__syscont_disc__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{n_tot}, @var{st_c}, @var{st_d}, @var{y_c}, @var{y_d}] =} syscont_disc(@var{sys}) +## @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} @@ -41,7 +41,7 @@ ## 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) +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);
--- a/scripts/control/system/__sysdefioname__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/__sysdefioname__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,14 +17,14 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {@var{ioname} =} sysdefioname (@var{n},@var{str} @{,@var{m}@}) +## @deftypefn {Function File} {@var{ioname} =} __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)} +## @strong{Example} @code{ioname = __sysdefioname__(5,"u",3)} ## returns the list: ## @example ## ioname = @@ -36,10 +36,10 @@ ## @end example ## @end deftypefn -function ioname = sysdefioname (n, str, m) +function ioname = __sysdefioname__ (n, str, m) if (nargin < 2 | nargin > 3) - usage("ioname = sysdefioname(n,str[,m])"); + usage ("ioname = __sysdefioname__ (n, str, m)"); endif if (nargin == 2) m = min(1,n); endif
--- a/scripts/control/system/__sysdefstname__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/__sysdefstname__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,13 +17,13 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {@var{stname} =} sysdefstname (@var{n}, @var{nz}) +## @deftypefn {Function File} {@var{stname} =} __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) +function stname = __sysdefstname__ (n, nz) stname = list(); if(n > 0)
--- a/scripts/control/system/__sysgroupn__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/__sysgroupn__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,8 +17,8 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {@var{names} =} sysgroupn (@var{names}) -## names = sysgroupn(names) +## @deftypefn {Function File} {@var{names} =} __sysgroupn__ (@var{names}) +## names = __sysgroupn__(names) ## Locate and mark duplicate names ## inputs: ## names: list of signal names @@ -30,7 +30,7 @@ ## used internally in sysgroup and elsewhere. ## @end deftypefn -function names = sysgroupn (names, kind) +function names = __sysgroupn__ (names, kind) ## check for duplicate names l = length(names);
--- a/scripts/control/system/__tf2sysl__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/__tf2sysl__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,12 +17,12 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {@var{vec} =} tf2sysl (@var{vec}) +## @deftypefn {Function File} {@var{vec} =} __tf2sysl__ (@var{vec}) ## used internally in @ref{tf2sys}. ## strip leading zero coefficients to get the true polynomial length ## @end deftypefn -function vec = tf2sysl (vec) +function vec = __tf2sysl__ (vec) while( (length(vec) > 1) & (vec(1) == 0) ) vec = vec(2:length(vec));
--- a/scripts/control/system/__zp2ssg2__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/__zp2ssg2__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{poly}, @var{rvals}] =} zp2ssg2 (@var{rvals}) +## @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. @@ -26,7 +26,7 @@ ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> ## Created: August 1996 -function [poly, rvals] = zp2ssg2 (rvals) +function [poly, rvals] = __zp2ssg2__ (rvals) ## locate imaginary roots (if any) cidx = find(imag(rvals));
--- a/scripts/control/system/abcddim.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/abcddim.m Fri Jan 14 06:34:24 2000 +0000 @@ -73,10 +73,10 @@ n = m = p = -1; - [a,an,am] = abcddims(a); - [b,bn,bm] = abcddims(b); - [c,cn,cm] = abcddims(c); - [d,dn,dm] = abcddims(d); + [a, an, am] = __abcddims__ (a); + [b, bn, bm] = __abcddims__ (b); + [c, cn, cm] = __abcddims__ (c); + [d, dn, dm] = __abcddims__ (d); if ( (!is_square(a)) & (!isempty(a)) ) warning (["abcddim: a is not square (",num2str(an),"x",num2str(am),")"]); @@ -103,7 +103,7 @@ if( (dn == 0) & have_connections) warning("abcddim: empty d matrix passed; setting compatibly with b, c"); - [d,dn,dm] = abcddims(zeros(cn,bm)); + [d, dn, dm] = __abcddims__ (zeros (cn, bm)); endif if(an > 0)
--- a/scripts/control/system/abcddims.m Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,38 +0,0 @@ -## Copyright (C) 1997 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {[@var{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/fir2sys.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/fir2sys.m Fri Jan 14 06:34:24 2000 +0000 @@ -92,12 +92,12 @@ ## Set name of input if (nargin < 3) - inname = sysdefioname (1, "u"); + inname = __sysdefioname__ (1, "u"); endif ## Set name of output if (nargin < 4) - outname = sysdefioname (1, "y"); + outname = __sysdefioname__ (1, "y"); endif sys = tf2sys (num, den, tsam, inname, outname);
--- a/scripts/control/system/parallel.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/parallel.m Fri Jan 14 06:34:24 2000 +0000 @@ -54,8 +54,8 @@ 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")); + Asys = syssetsignals(Asys,"in",__sysdefioname__(length(Ain),"Ain_u")); + Bsys = syssetsignals(Bsys,"in",__sysdefioname__(length(Ain),"Bin_u")); sysp = sysgroup(Asys,Bsys); sysD = ss2sys([],[],[],[eye(mA);eye(mA)]);
--- a/scripts/control/system/ss2sys.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/ss2sys.m Fri Jan 14 06:34:24 2000 +0000 @@ -256,9 +256,9 @@ ## 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"); + retsys.stname = __sysdefstname__ (n, nz); + retsys.inname = __sysdefioname__ (m, "u"); + retsys.outname = __sysdefioname__ (p, "y"); ## check for state names if(nargin >= 8)
--- a/scripts/control/system/sysadd.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/sysadd.m Fri Jan 14 06:34:24 2000 +0000 @@ -94,10 +94,10 @@ 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")); + 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);
--- a/scripts/control/system/sysappend.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/sysappend.m Fri Jan 14 06:34:24 2000 +0000 @@ -113,7 +113,7 @@ (Bm-Am),rows(inname),columns(inname))); endif else - inname = sysdefioname(Bm,"u",(Am+1)); + inname = __sysdefioname__(Bm,"u",(Am+1)); endif if(Am) Ain = append(Ain,inname); else Ain = inname; endif @@ -142,7 +142,7 @@ (Bp-Ap),rows(outname),columns(outname))); endif else - outname = sysdefioname(Bp,"y",(Ap+1)); + outname = __sysdefioname__(Bp,"y",(Ap+1)); endif if(Ap) Aout = append(Aout,outname); else Aout = outname; endif
--- a/scripts/control/system/syschnamesl.m Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,116 +0,0 @@ -## Copyright (C) 1996 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {@var{old_names} =} 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 = ["index list value(s) exceed(s) number of signals (", ... - num2str(rows(old_names)),")"]; - - elseif( length(olist) > rows(inames) ) - probstr = ["index list dimension exceeds number of replacement names (", ... - num2str(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 = ["max(",listname,")=",num2str(max(olist))," > ", ... - num2str(rows(old_names)),", too big"]; - - elseif(min(olist) < 1) - probstr = ["min(",listname,")=",num2str(min(olist))," < 1, too small"]; - - 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)) = " "*ones(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( !isstr(old_names) ) - old_names = setstr(old_names); - endif - - ## disp("syschnamesl: exit, old_names=") - ## old_names - ## disp("/syschnamesl: exiting") - -endfunction
--- a/scripts/control/system/syscont.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/syscont.m Fri Jan 14 06:34:24 2000 +0000 @@ -50,8 +50,8 @@ 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 + 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 = [];
--- a/scripts/control/system/syscont_disc.m Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,54 +0,0 @@ -## Copyright (C) 1996, 1998 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {[@var{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 Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,57 +0,0 @@ -## Copyright (C) 1996, 1998 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {@var{ioname} =} 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 list: -## @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) - usage("ioname = sysdefioname(n,str[,m])"); - endif - - if (nargin == 2) m = min(1,n); endif - - ioname = list(); - 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 Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,42 +0,0 @@ -## Copyright (C) 1996 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {@var{stname} =} 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 = list(); - 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/sysdisc.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/sysdisc.m Fri Jan 14 06:34:24 2000 +0000 @@ -45,8 +45,8 @@ 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 + 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 = [];
--- a/scripts/control/system/sysgroup.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/sysgroup.m Fri Jan 14 06:34:24 2000 +0000 @@ -126,9 +126,9 @@ stname = stname(pv); ## check for duplicate signal names - inname = sysgroupn(inname,"input"); - stname = sysgroupn(stname,"state"); - outname = sysgroupn(outname,"output"); + inname = __sysgroupn__ (inname, "input"); + stname = __sysgroupn__ (stname, "state"); + outname = __sysgroupn__ (outname, "output"); ## mark discrete outputs outlist = find([Ayd, Byd]);
--- a/scripts/control/system/sysgroupn.m Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,57 +0,0 @@ -## Copyright (C) 1996, 1998 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {@var{names} =} sysgroupn (@var{names}) -## names = sysgroupn(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 = nth(names,ii); - jj = ii+1; - while ( jj <= l) - st2 = nth(names,jj); - if(strcmp(st1,st2)) - suffix = ["_",num2str(jj)]; - warning("sysgroup: %s name(%d) = %s name(%d) = %s", ... - kind,ii,kind,jj,st1); - strval = sprintf("%s%s",st2,suffix); - 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 = jj+1; - endwhile - ii = ii+1; - endwhile -endfunction
--- a/scripts/control/system/sysmult.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/sysmult.m Fri Jan 14 06:34:24 2000 +0000 @@ -91,8 +91,8 @@ 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")); + Asys = syssetsignals(Asys,"in",__sysdefioname__(Am,"A_sysmult_tmp_name")); + Bsys = syssetsignals(Bsys,"out",__sysdefioname__(Bp,"B_sysmult_tmp_name")); sys = sysgroup(Asys,Bsys);
--- a/scripts/control/system/sysout.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/sysout.m Fri Jan 14 06:34:24 2000 +0000 @@ -72,13 +72,13 @@ [nn,nz,mm,pp] = sysdimensions(sys); if( mm > 0) disp("Input(s)") - disp(outlist(sysgetsignals(sys,"in")," ")); + disp(__outlist__(sysgetsignals(sys,"in")," ")); else disp("Input(s): none"); endif if (pp > 0) disp("Output(s):") - disp(outlist(sysgetsignals(sys,"out"), ... + disp(__outlist__(sysgetsignals(sys,"out"), ... " ",sysgetsignals(sys,"yd")) ); else disp("Output(s): none"); @@ -116,7 +116,7 @@ if(!isempty(xi)) xd(xi) = 1; endif - disp(outlist(sysgetsignals(sys,"st")," ",xd)); + disp(__outlist__(sysgetsignals(sys,"st")," ",xd)); else disp("State(s): none"); endif
--- a/scripts/control/system/sysscale.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/sysscale.m Fri Jan 14 06:34:24 2000 +0000 @@ -116,7 +116,7 @@ if( nargin < 4) warning("sysscale: outscale not square, outname not specified"); warning("sysscale: using default output names"); - outname = sysdefioname(rows(sysc),"y"); + outname = __sysdefioname__(rows(sysc),"y"); endif else outname = sysoutname; @@ -127,7 +127,7 @@ if(nargin < 5) warning("sysscale: inscale not square, inname not specified"); warning("sysscale: using default input names"); - inname = sysdefioname(columns(sysb),"u"); + inname = __sysdefioname__(columns(sysb),"u"); endif else inname = sysgetsignals(sys,"in");
--- a/scripts/control/system/syssub.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/syssub.m Fri Jan 14 06:34:24 2000 +0000 @@ -93,10 +93,10 @@ 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")); + 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);
--- a/scripts/control/system/sysupdate.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/sysupdate.m Fri Jan 14 06:34:24 2000 +0000 @@ -116,7 +116,7 @@ endif ## create new state names - sys.stname = sysdefstname(sys.n, sys.nz); + sys.stname = __sysdefstname__ (sys.n, sys.nz); endif
--- a/scripts/control/system/tf2sys.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/tf2sys.m Fri Jan 14 06:34:24 2000 +0000 @@ -74,8 +74,8 @@ endif ## strip leading zero coefficients - num = tf2sysl(num); - den = tf2sysl(den); + num = __tf2sysl__ (num); + den = __tf2sysl__ (den); if (length(num) > length(den)) error("# of poles (%d) < # of zeros (%d)",length(den)-1, length(num)-1); @@ -105,9 +105,9 @@ outsys.yd = 1; endif - outsys.inname = sysdefioname(1,"u"); - outsys.outname = sysdefioname(1,"y"); - outsys.stname = sysdefstname(outsys.n,outsys.nz); + outsys.inname = __sysdefioname__ (1, "u"); + outsys.outname = __sysdefioname__ (1, "y"); + outsys.stname = __sysdefstname__ (outsys.n, outsys.nz); ## Set name of input if (nargin > 3)
--- a/scripts/control/system/tf2sysl.m Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,35 +0,0 @@ -## Copyright (C) 1996 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {@var{vec} =} tf2sysl (@var{vec}) -## used internally in @ref{tf2sys}. -## strip leading zero coefficients to get the true polynomial length -## @end deftypefn - -function vec = tf2sysl (vec) - - while( (length(vec) > 1) & (vec(1) == 0) ) - vec = vec(2:length(vec)); - endwhile - - if(vec(1) == 0) - warning("tf2sys: polynomial has no nonzero coefficients!") - endif - -endfunction
--- a/scripts/control/system/zp2ss.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/zp2ss.m Fri Jan 14 06:34:24 2000 +0000 @@ -122,12 +122,12 @@ case(2) ## got a complex pole or zero, need two roots (if available) if(length(zer) > 1) - [num,zer] = zp2ssg2(zer); # get two zeros + [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 + [den, pol] = __zp2ssg2__ (pol); # get two poles otherwise error(["pcnt = ",num2str(pcnt)]) endswitch @@ -136,12 +136,12 @@ zpsys1 = tf2sys(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 = 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);
--- a/scripts/control/system/zp2ssg2.m Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,68 +0,0 @@ -## Copyright (C) 1996, 1998 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {[@var{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); - 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(sprintf("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/zp2sys.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/zp2sys.m Fri Jan 14 06:34:24 2000 +0000 @@ -117,9 +117,9 @@ outsys.tsam = tsam; endif - outsys.inname = sysdefioname(1,"u"); - outsys.outname = sysdefioname(1,"y"); - outsys.stname = sysdefstname(outsys.n,outsys.nz); + outsys.inname = __sysdefioname__ (1, "u"); + outsys.outname = __sysdefioname__ (1, "y"); + outsys.stname = __sysdefstname__ (outsys.n, outsys.nz); ## Set name of input if (nargin > 4)
--- a/scripts/control/system/zp2tf.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/system/zp2tf.m Fri Jan 14 06:34:24 2000 +0000 @@ -55,18 +55,18 @@ num = k; den = 1; - ## call zp2ssg2 if there are complex conjugate pairs left, otherwise + ## 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); + 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); + if( max(abs(imag(pol))) ) [poly, pol] = __zp2ssg2__ (pol); else poly = [1, -pol(1)]; pol = pol(2:length(pol)); endif den = conv(den,poly);
--- a/scripts/control/util/__outlist__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/util/__outlist__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} outlist (@var{lmat}@{, @var{tabchar}, @var{yd}, @var{ilist} @}) +## @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 ## @@ -44,7 +44,7 @@ ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> ## Created: December 1995 -function str_val = outlist (name_list, tabchar, yd, ilist) +function str_val = __outlist__ (name_list, tabchar, yd, ilist) ## save for restore later save_empty = empty_list_elements_ok;
--- a/scripts/control/util/__zgpbal__.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/util/__zgpbal__.m Fri Jan 14 06:34:24 2000 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {@var{retsys} =} zgpbal (@var{Asys}) +## @deftypefn {Function File} {@var{retsys} =} __zgpbal__ (@var{Asys}) ## ## used internally in @code{tzero}; minimal argument checking performed ## @@ -25,12 +25,12 @@ ## balancing method (Hodel and Tiller, Allerton Conference, 1991) ## Based on Ward's balancing algorithm (SIAM J. Sci Stat. Comput., 1981) ## -## zgpbal computes a state/input/output weighting that attempts to +## __zgpbal__ computes a state/input/output weighting that attempts to ## reduced the range of the magnitudes of the nonzero elements of [a,b,c,d] ## The weighting uses scalar multiplication by powers of 2, so no roundoff ## will occur. ## -## zgpbal should be followed by zgpred +## __zgpbal__ should be followed by zgpred ## @end deftypefn ## References: @@ -41,10 +41,10 @@ ## Created: July 24, 1992 ## Conversion to Octave by R. Bruce Tenison July 3, 1994 -function retsys = zgpbal (Asys) +function retsys = __zgpbal__ (Asys) if( (nargin != 1) | (!is_struct(Asys))) - usage("retsys = zgpbal(Asys)"); + usage("retsys = __zgpbal__ (Asys)"); endif Asys = sysupdate(Asys,"ss"); @@ -58,9 +58,9 @@ ## set up log vector zz, incidence matrix ff zz = zginit(a,b,c,d); - ## disp("zgpbal: zginit returns") + ## disp("__zgpbal__: zginit returns") ## zz - ## disp("/zgpbal") + ## disp("/__zgpbal__") if (norm(zz)) ## generalized conjugate gradient approach
--- a/scripts/control/util/outlist.m Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,80 +0,0 @@ -## Copyright (C) 1996, 1998 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {} 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) - - ## save for restore later - save_empty = empty_list_elements_ok; - empty_list_elements_ok = 1; - - if( nargin < 1 | nargin > 4 ) - usage("str_val = outlist(x[,tabchar,yd,ilist])"); - endif - - m = length(name_list); - if(nargin < 4) ilist = 1:m; endif - if(nargin ==1) - empty_list_elements_ok = 1; - tabchar = ""; - endif - - if(nargin < 3) yd = zeros(1,m); - elseif(isempty(yd)) yd = zeros(1,m); endif - - str_val = ""; - dstr = list(""," (discrete)"); - if((m >= 1) && (is_list(name_list))) - for ii=1:m - str_val = sprintf("%s%s%d: %s%s\n",str_val,tabchar, ilist(ii), ... - nth(name_list,ii),nth(dstr,yd(ii)+1)); - endfor - else - str_val = sprintf("%sNone",tabchar); - endif - - empty_list_elements_ok = save_empty; - -endfunction
--- a/scripts/control/util/zgpbal.m Fri Jan 14 06:00:04 2000 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,109 +0,0 @@ -## Copyright (C) 1996 Auburn University. All rights reserved. -## -## This file is part of Octave. -## -## Octave is free software; you can redistribute it and/or modify it -## under the terms of the GNU General Public License as published by the -## Free Software Foundation; either version 2, or (at your option) any -## later version. -## -## Octave is distributed in the hope that it will be useful, but WITHOUT -## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or -## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License -## for more details. -## -## You should have received a copy of the GNU General Public License -## along with Octave; see the file COPYING. If not, write to the Free -## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. - -## -*- texinfo -*- -## @deftypefn {Function File} {@var{retsys} =} zgpbal (@var{Asys}) -## -## used internally in @code{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 (SIAM J. Sci Stat. Comput., 1981) -## -## zgpbal computes a state/input/output weighting that attempts to -## reduced the range of the magnitudes of the nonzero elements of [a,b,c,d] -## The weighting uses scalar multiplication by powers of 2, so no roundoff -## will occur. -## -## zgpbal should be followed by 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) | (!is_struct(Asys))) - usage("retsys = zgpbal(Asys)"); - 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 = ss2sys(a,b,c,d); -endfunction -
--- a/scripts/control/util/zgsgiv.m Fri Jan 14 06:00:04 2000 +0000 +++ b/scripts/control/util/zgsgiv.m Fri Jan 14 06:34:24 2000 +0000 @@ -19,7 +19,8 @@ ## -*- 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. +## No longer used in zero-balancing (__zgpbal__); kept for backward +## compatibility. ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>