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changeset 3422:9fc59b290856

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[project @ 2000-01-13 06:58:27 by jwe]
author jwe
date Thu, 13 Jan 2000 06:58:30 +0000
parents 251c444248bf
children 12f2097a2ed8
files scripts/ChangeLog scripts/control/dlqg.m scripts/control/minfo.m scripts/control/packsys.m scripts/control/qzval.m scripts/control/swapcols.m scripts/control/swaprows.m scripts/control/unpacksys.m
diffstat 8 files changed, 11 insertions(+), 434 deletions(-) [+]
line wrap: on
line diff
--- a/scripts/ChangeLog	Thu Jan 13 06:55:14 2000 +0000
+++ b/scripts/ChangeLog	Thu Jan 13 06:58:30 2000 +0000
@@ -1,3 +1,14 @@
+Thu Jan 13 00:56:57 2000  John W. Eaton  <jwe@bahaha.che.wisc.edu>
+
+	* control/obsolete: New directory
+	* control/obsolete/swaprows.m: Move here from control directory.
+	* control/obsolete/swapcols.m: Likewise.
+	* control/obsolete/dlqg.m: Likewise.
+	* control/obsolete/minfo.m: Likewise.
+	* control/obsolete/packsys.m: Likewise.
+	* control/obsolete/qzval.m: Likewise.
+	* control/obsolete/unpacksys.m: Likewise.
+
 2000-01-13  John W. Eaton  <jwe@bevo.che.wisc.edu>
 
 	* general/fliplr.m: Eliminate useless copy of arg.
--- a/scripts/control/dlqg.m	Thu Jan 13 06:55:14 2000 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,124 +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. 
-
-##  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(! is_struct(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: ",num2str(nin)," inputs provided, noise dimension is ", ...
-	  num2str(columns(Sigw))])
-    elseif(nout != columns(Sigv))
-      error(["dlqg: number of outputs (",num2str(nout),") incompatible with ", ...
-	  "dimension of Sigv (",num2str(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: illegal number of arguments")
-  endif
-
-  if (! (is_square(Sigw) && is_square(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 = ss2sys(Ac,Bc,Cc,Dc,1);
-  disp("HODEL: need to add names to this guy!")
-
-endfunction
--- a/scripts/control/minfo.m	Thu Jan 13 06:55:14 2000 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,86 +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. 
-
-##  function [systype, nout, nin, ncstates, ndstates] = minfo(inmat)
-##
-## MINFO:  Determines the type of system matrix.  INMAT can be
-##         a varying(*), system, constant, and empty matrix.
-##
-##    Returns:
-##      systype can be one of:
-##            varying, system, constant, and empty
-##      nout is the number of outputs of the system
-##      nin is the number of inputs of the system
-##      ncstates is the number of continuous states of the system
-##	 ndstates is the number of discrete states of the system
-
-## 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/packsys.m	Thu Jan 13 06:55:14 2000 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,71 +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. 
-
-## O B S O L E T E: use ss2sys 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 ss2sys instead.");
-  
-  if (nargin < 3 || nargin > 5)
-    disp("packsys: Invalid number of arguments")
-  endif
-
-  ## check dflg
-  if(nargin == 5)
-    if( !is_scalar(dflg))
-      [m,n] = size(dflg);
-      error(["packsys: dflg (",num2str(m),",",num2str(n), ...
-	") must be a scalar."]);
-    elseif( (dflg != 0) && (dflg != 1))
-      error(["packsys: dflg=",num2str(dflg),"must be 0 or 1"]);
-    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 = ss2sys(a,b,c,d,dflg);
-
-endfunction
--- a/scripts/control/qzval.m	Thu Jan 13 06:55:14 2000 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,46 +0,0 @@
-## Copyright (C) 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{x} =} 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.
-##  
-## @strong{Note} @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/swapcols.m	Thu Jan 13 06:55:14 2000 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,38 +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 } { outputs =} 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/swaprows.m	Thu Jan 13 06:55:14 2000 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,38 +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 } { outputs =} 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/unpacksys.m	Thu Jan 13 06:55:14 2000 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,31 +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. 
-
-## [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
-