Mercurial > octave-nkf
changeset 5016:bdbee5282954
[project @ 2004-09-22 02:50:35 by jwe]
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line diff
--- a/doc/interpreter/control.txi Wed Sep 22 02:18:13 2004 +0000 +++ b/doc/interpreter/control.txi Wed Sep 22 02:50:36 2004 +0000 @@ -5,7 +5,7 @@ @node Control Theory @chapter Control Theory -The Octave Control Systems Toolbox (OCST) was initially developed +The Octave Control Systems Toolbox (@acronym{OCST}) was initially developed by Dr.@: A. Scottedward Hodel @email{a.s.hodel@@eng.auburn.edu} with the assistance of his students @@ -15,13 +15,13 @@ @item John E. Ingram @email{John.Ingram@@sea.siemans.com}, and @item Kristi McGowan. @end itemize -This development was supported in part by NASA's Marshall Space Flight -Center as part of an in-house CACSD environment. Additional important +This development was supported in part by @acronym{NASA}'s Marshall Space Flight +Center as part of an in-house @acronym{CACSD} environment. Additional important contributions were made by Dr. Kai Mueller @email{mueller@@ifr.ing.tu-bs.de} and Jose Daniel Munoz Frias (@code{place.m}). An on-line menu-driven tutorial is available via @code{DEMOcontrol}; -beginning OCST users should start with this program. +beginning @acronym{OCST} users should start with this program. @DOCSTRING(DEMOcontrol) @@ -48,27 +48,27 @@ * sysstructss:: @end menu -The OCST stores all dynamic systems in +The @acronym{OCST} stores all dynamic systems in a single data structure format that can represent continuous systems, discrete-systems, and mixed (hybrid) systems in state-space form, and can also represent purely continuous/discrete systems in either transfer function or pole-zero form. In order to provide more flexibility in treatment of discrete/hybrid systems, the -OCST also keeps a record of which system outputs are sampled. +@acronym{OCST} also keeps a record of which system outputs are sampled. Octave structures are accessed with a syntax much like that used by the C programming language. For consistency in -use of the data structure used in the OCST, it is recommended that +use of the data structure used in the @acronym{OCST}, it is recommended that the system structure access m-files be used (@pxref{sysinterface}). Some elements of the data structure are absent depending on the internal system representation(s) used. More than one system representation -can be used for SISO systems; the OCST m-files ensure that all representations +can be used for @acronym{SISO} systems; the @acronym{OCST} m-files ensure that all representations used are consistent with one another. @DOCSTRING(sysrepdemo) @node sysstructvars -@subsection Variables common to all OCST system formats +@subsection Variables common to all @acronym{OCST} system formats The data structure elements (and variable types) common to all system representations are listed below; examples of the initialization @@ -176,7 +176,7 @@ @node sysinterface @section System Construction and Interface Functions -Construction and manipulations of the OCST system data structure +Construction and manipulations of the @acronym{OCST} system data structure (@pxref{sysstruct}) requires attention to many details in order to ensure that data structure contents remain consistent. Users are strongly encouraged to use the system interface functions @@ -352,13 +352,13 @@ @DOCSTRING(zgshsr) -References: +@strong{References} @table @strong @item ZGEP - Hodel, "Computation of Zeros with Balancing," 1992, Linear Algebra + Hodel, @cite{Computation of Zeros with Balancing}, 1992, Linear Algebra and its Applications @item @strong{Generalized CG} - Golub and Van Loan, "Matrix Computations, 2nd ed" 1989 + Golub and Van Loan, @cite{Matrix Computations, 2nd ed} 1989. @end table @node sysprop
--- a/doc/interpreter/expr.txi Wed Sep 22 02:18:13 2004 +0000 +++ b/doc/interpreter/expr.txi Wed Sep 22 02:50:36 2004 +0000 @@ -67,75 +67,9 @@ @noindent and select the first row of the matrix. -A special form of indexing may be used to select elements of a matrix or -vector. If the indices are vectors made up of only ones and zeros, the -result is a new matrix whose elements correspond to the elements of the -index vector that are equal to one. For example, - -@example -@group -a = [1, 2; 3, 4]; -a ([1, 0], :) -@end group -@end example - -@noindent -selects the first row of the matrix @code{a}. - -This operation can be useful for selecting elements of a matrix based on -some condition, since the comparison operators return matrices of ones -and zeros. - -This special zero-one form of indexing leads to a conflict with the -standard indexing operation. For example, should the following -statements - -@example -@group -a = [1, 2; 3, 4]; -a ([1, 1], :) -@end group -@end example +@c FIXED -- sections on variable prefer_zero_one_indexing were removed -@noindent -return the original matrix, or the matrix formed by selecting the first -row twice? Although this conflict is not likely to arise very often in -practice, you may select the behavior you prefer by setting the built-in -variable @code{prefer_zero_one_indexing}. - -@c XXX FIXME XXX -- this variable no longer exists! - -@defvr {Built-in Variable} prefer_zero_one_indexing -If the value of @code{prefer_zero_one_indexing} is nonzero, Octave -will perform zero-one style indexing when there is a conflict with the -normal indexing rules. @xref{Index Expressions}. For example, given a -matrix - -@example -a = [1, 2, 3, 4] -@end example - -@noindent -with @code{prefer_zero_one_indexing} is set to nonzero, the -expression - -@example -a ([1, 1, 1, 1]) -@end example - -@noindent -results in the matrix @code{[ 1, 2, 3, 4 ]}. If the value of -@code{prefer_zero_one_indexing} set to 0, the result would be -the matrix @code{[ 1, 1, 1, 1 ]}. - -In the first case, Octave is selecting each element corresponding to a -@samp{1} in the index vector. In the second, Octave is selecting the -first element multiple times. - -The default value for @code{prefer_zero_one_indexing} is 0. -@end defvr - -Finally, indexing a scalar with a vector of ones can be used to create a +Indexing a scalar with a vector of ones can be used to create a vector the same size as the index vector, with each element equal to the value of the original scalar. For example, the following statements @@ -890,7 +824,7 @@ @end example @noindent -deletes the first, third, and fifth columns. +deletes the first, second, and fifth columns. An assignment is an expression, so it has a value. Thus, @code{z = 1} as an expression has the value 1. One consequence of this is that you
--- a/doc/interpreter/func.txi Wed Sep 22 02:18:13 2004 +0000 +++ b/doc/interpreter/func.txi Wed Sep 22 02:50:36 2004 +0000 @@ -375,7 +375,7 @@ @defvr {Keyword} return When Octave encounters the keyword @code{return} inside a function or -script, it returns control to be caller immediately. At the top level, +script, it returns control to the caller immediately. At the top level, the return statement is ignored. A @code{return} statement is assumed at the end of every function definition. @end defvr @@ -667,8 +667,6 @@ @example @group -ColumnVector dx (3); - dx(0) = 77.27 * (x(1) - x(0)*x(1) + x(0) - 8.375e-06*pow (x(0), 2)); @@ -679,7 +677,7 @@ @end example @noindent -define the right hand side of the differential equation. Finally, we +define the right-hand side of the differential equation. Finally, we can return @code{dx}: @example
--- a/doc/interpreter/io.txi Wed Sep 22 02:18:13 2004 +0000 +++ b/doc/interpreter/io.txi Wed Sep 22 02:50:36 2004 +0000 @@ -124,7 +124,7 @@ written by the @code{save} command can be controlled using the built-in variables @code{default_save_format} and @code{save_precision}. -Note that Octave can not yet save or load structure variables or any +Note that Octave cannot yet save or load structure variables or any user-defined types. @DOCSTRING(save)
--- a/doc/interpreter/plot.txi Wed Sep 22 02:18:13 2004 +0000 +++ b/doc/interpreter/plot.txi Wed Sep 22 02:50:36 2004 +0000 @@ -44,7 +44,7 @@ @noindent and may be used to specify the ranges for the axes of the plot, -independent of the actual range of the data. The range for the y axes +independent of the actual range of the data. The range for the y axis and any of the individual limits may be omitted. A range @code{[:]} indicates that the default limits should be used. This normally means that a range just large enough to include all the data points will be
--- a/doc/interpreter/struct.txi Wed Sep 22 02:18:13 2004 +0000 +++ b/doc/interpreter/struct.txi Wed Sep 22 02:50:36 2004 +0000 @@ -103,7 +103,10 @@ @{ b = @{ - c = <structure> + c = + @{ + d: 1x1 struct + @} @} @} @end group
--- a/liboctave/DASPK-opts.in Wed Sep 22 02:18:13 2004 +0000 +++ b/liboctave/DASPK-opts.in Wed Sep 22 02:50:36 2004 +0000 @@ -38,7 +38,8 @@ The local error test applied at each integration step is @example - abs (local error in x(i)) <= rtol(i) * abs (Y(i)) + atol(i) + abs (local error in x(i)) + <= rtol(i) * abs (Y(i)) + atol(i) @end example END_DOC_ITEM TYPE = "Array<double>"
--- a/liboctave/DASSL-opts.in Wed Sep 22 02:18:13 2004 +0000 +++ b/liboctave/DASSL-opts.in Wed Sep 22 02:50:36 2004 +0000 @@ -38,7 +38,8 @@ The local error test applied at each integration step is @example - abs (local error in x(i)) <= rtol(i) * abs (Y(i)) + atol(i) + abs (local error in x(i)) + <= rtol(i) * abs (Y(i)) + atol(i) @end example END_DOC_ITEM TYPE = "Array<double>"
--- a/liboctave/ODESSA-opts.in Wed Sep 22 02:18:13 2004 +0000 +++ b/liboctave/ODESSA-opts.in Wed Sep 22 02:50:36 2004 +0000 @@ -36,7 +36,8 @@ The local error test applied at each integration step is @example - abs (local error in x(i)) <= rtol * abs (y(i)) + atol(i) + abs (local error in x(i)) + <= rtol * abs (y(i)) + atol(i) @end example END_DOC_ITEM TYPE = "double"
--- a/scripts/control/base/DEMOcontrol.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/DEMOcontrol.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,7 +19,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} DEMOcontrol ## Octave Control Systems Toolbox demo/tutorial program. The demo -## allows the user to select among several categories of OCST function: +## allows the user to select among several categories of @acronym{OCST} function: ## @example ## @group ## octave:1> DEMOcontrol @@ -36,7 +36,7 @@ ## @end group ## @end example ## Command examples are interactively run for users to observe the use -## of OCST functions. +## of @acronym{OCST} functions. ## @end deftypefn ## @seealso{Demo Programs: bddemo.m, frdemo.m, analdemo.m, ## moddmeo.m, rldemo.m} @@ -46,7 +46,7 @@ function DEMOcontrol () - puts ("O C T A V E C O N T R O L S Y S T E M S T O O L B O X") + puts ("O C T A V E C O N T R O L S Y S T E M S T O O L B O X"); while (1)
--- a/scripts/control/base/__bodquist__.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/__bodquist__.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,7 +18,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{f}, @var{w}, @var{rsys}] =} __bodquist__ (@var{sys}, @var{w}, @var{out_idx}, @var{in_idx}) -## used internally by bode, nyquist; compute system frequency response. +## Used internally by @command{bode}, @command{nyquist}; compute system frequency response. ## ## @strong{Inputs} ## @table @var @@ -45,7 +45,7 @@ ## @code{bode}, @code{nichols}, and @code{nyquist} share the same ## introduction, so the common parts are ## in __bodquist__. It contains the part that finds the number of arguments, -## determines whether or not the system is SISO, and computes the frequency +## determines whether or not the system is @acronym{SISO}, and computes the frequency ## response. Only the way the response is plotted is different between the ## these functions. ## @end deftypefn
--- a/scripts/control/base/__freqresp__.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/__freqresp__.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,8 +18,8 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} __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" +## Frequency response function - used internally by @command{bode}, @command{nyquist}. +## minimal argument checking; ``do not attempt to do this at home''. ## ## @strong{Inputs} ## @table @var @@ -33,7 +33,7 @@ ## @strong{Outputs} ## @table @var ## @item @var{out} -## vector of finite @math{G(j*w)} entries (or @math{||G(j*w)||} for MIMO) +## vector of finite @math{G(j*w)} entries (or @math{||G(j*w)||} for @acronym{MIMO}) ## @item w ## vector of corresponding frequencies ## @end table
--- a/scripts/control/base/__stepimp__.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/__stepimp__.m Wed Sep 22 02:50:36 2004 +0000 @@ -20,15 +20,15 @@ ## @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. +## This m-file contains the ``common code'' of step and impulse. ## -## Produces a plot or the response data for system sys. +## Produces a plot or the response data for system @var{sys}. ## -## Limited argument checking; "do not attempt to do this at home". -## Used internally in @code{impulse}, @code{step}. Use @code{step} -## or @code{impulse} instead. +## Limited argument checking; ``do not attempt to do this at home''. +## Used internally in @command{impulse}, @command{step}. Use @command{step} +## or @command{impulse} instead. ## @end deftypefn -## @seealso{step and impulse} +## @seealso{step, impulse} ## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de> ## Created: October 2, 1997
--- a/scripts/control/base/analdemo.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/analdemo.m Wed Sep 22 02:50:36 2004 +0000 @@ -32,7 +32,7 @@ k=0; while(k > 8 || k < 1) k = menu("Octave State Space Analysis Demo", ... - "System grammians (gram, dgram)", ... + "System gramians (gram, dgram)", ... "System zeros (tzero)", ... "Continuous => Discrete and Discrete => Continuous conversions (c2d,d2c)", ... "Algebraic Riccati Equation (are, dare)", ... @@ -47,22 +47,22 @@ prompt clc - disp("System Grammians: (see Moore, IEEE T-AC, 1981) \n"); + disp("System Gramians: (see Moore, IEEE T-AC, 1981) \n"); disp("Example #1, consider the discrete time state space system:\n"); a=[1, 5, -8.4; 1.2, -3, 5; 1, 7, 9] b=[1, 5; 2, 6; -4.4, 5] c=[1, -1.5, 2; 6, -9.8, 1] d=0 prompt - disp("\nThe discrete controllability grammian is computed as follows:"); - cmd = "grammian = dgram(a, b);"; + disp("\nThe discrete controllability gramian is computed as follows:"); + cmd = "gramian = dgram(a, b);"; run_cmd; disp("Results:\n"); - grammian = dgram(a,b) + gramian = dgram(a,b) disp("Variable Description:\n"); - disp("grammian => discrete controllability grammian"); + disp("gramian => discrete controllability gramian"); disp("a, b => a and b matrices of discrete time system\n"); - disp("A dual approach may be used to compute the observability grammian."); + disp("A dual approach may be used to compute the observability gramian."); prompt clc @@ -76,15 +76,15 @@ c=[1, -1.1, 7; 3, -9.8, 2] d=0 prompt - disp("\nThe continuous controllability grammian is computed as follows:"); - cmd = "grammian = gram(a, b);"; + disp("\nThe continuous controllability gramian is computed as follows:"); + cmd = "gramian = gram(a, b);"; run_cmd; disp("Results:\n"); - grammian = gram(a,b) + gramian = gram(a,b) disp("Variable Description:\n"); - disp("grammian => continuous controllability grammian"); + disp("gramian => continuous controllability gramian"); disp("a, b => a and b matrices of continuous time system\n"); - disp("A dual approach may be used to compute the observability grammian."); + disp("A dual approach may be used to compute the observability gramian."); prompt clc
--- a/scripts/control/base/are.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/are.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,8 +17,8 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} are (@var{a}, @var{b}, @var{c}, @var{opt}) -## Solve the algebraic Riccati equation +## @deftypefn {Function File} {@var{x} =} are (@var{a}, @var{b}, @var{c}, @var{opt}) +## Solve the Algebraic Riccati Equation ## @iftex ## @tex ## $$ @@ -37,23 +37,26 @@ ## for identically dimensioned square matrices ## @table @var ## @item a -## @var{n}x@var{n} matrix. +## @var{n} by @var{n} matrix; ## @item b -## @var{n}x@var{n} matrix or @var{n}x@var{m} matrix; in the latter case -## @var{b} is replaced by @math{b:=b*b'}. +## @var{n} by @var{n} matrix or @var{n} by @var{m} matrix; in the latter case +## @var{b} is replaced by @math{b:=b*b'}; ## @item c -## @var{n}x@var{n} matrix or @var{p}x@var{m} matrix; in the latter case -## @var{c} is replaced by @math{c:=c'*c}. +## @var{n} by @var{n} matrix or @var{p} by @var{m} matrix; in the latter case +## @var{c} is replaced by @math{c:=c'*c}; ## @item opt ## (optional argument; default = @code{"B"}): ## String option passed to @code{balance} prior to ordered Schur decomposition. ## @end table ## -## @strong{Outputs} -## @var{x}: solution of the ARE. +## @strong{Output} +## @table @var +## @item x +## solution of the @acronym{ARE}. +## @end table ## ## @strong{Method} -## Laub's Schur method (IEEE Transactions on +## Laub's Schur method (@acronym{IEEE} Transactions on ## Automatic Control, 1979) is applied to the appropriate Hamiltonian ## matrix. ##
--- a/scripts/control/base/bddemo.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/bddemo.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,7 +18,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} bddemo (@var{inputs}) -## Octave Controls toolbox demo: Block Diagram Manipulations demo +## Octave Controls toolbox demo: Block Diagram Manipulations demo. ## @end deftypefn ## Author: David Clem
--- a/scripts/control/base/bode.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/bode.m Wed Sep 22 02:50:36 2004 +0000 @@ -39,7 +39,7 @@ ## @end itemize ## ## @strong{Default} the default frequency range is selected as follows: (These -## steps are NOT performed if @var{w} is specified) +## steps are @strong{not} performed if @var{w} is specified) ## @enumerate ## @item via routine __bodquist__, isolate all poles and zeros away from ## @var{w}=0 (@var{jw}=0 or @math{@code{exp}(jwT)}=1) and select the frequency @@ -91,7 +91,7 @@ ## Failure to include a concluding semicolon will yield some garbage ## being printed to the screen (@code{ans = []}). ## -## @item If the requested plot is for an MIMO system, mag is set to +## @item If the requested plot is for an @acronym{MIMO} system, mag is set to ## @math{||G(jw)||} or @math{||G(@code{exp}(jwT))||} ## and phase information is not computed. ## @end enumerate
--- a/scripts/control/base/bode_bounds.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/bode_bounds.m Wed Sep 22 02:50:36 2004 +0000 @@ -20,9 +20,17 @@ ## @deftypefn {Function File} {[@var{wmin}, @var{wmax}] =} bode_bounds (@var{zer}, @var{pol}, @var{dflg}, @var{tsam}) ## Get default range of frequencies based on cutoff frequencies of system ## poles and zeros. -## Frequency range is the interval [10^wmin,10^wmax] +## Frequency range is the interval +## @iftex +## @tex +## $ [ 10^{w_{min}}, 10^{w_{max}} ] $ +## @end tex +## @end iftex +## @ifinfo +## [10^@var{wmin}, 10^@var{wmax}] +## @end ifinfo ## -## Used internally in __freqresp__ (@code{bode}, @code{nyquist}) +## Used internally in @command{__freqresp__} (@command{bode}, @command{nyquist}) ## @end deftypefn function [wmin, wmax] = bode_bounds (zer, pol, DIGITAL, tsam)
--- a/scripts/control/base/controldemo.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/controldemo.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,7 +18,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} controldemo () -## Controls toolbox demo. +## Control Systems Toolbox demo. ## @end deftypefn ## @seealso{Demo programs: bddemo, frdemo, analdemo, moddmeo, rldemo}
--- a/scripts/control/base/ctrb.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/ctrb.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,16 +19,23 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} ctrb (@var{sys}, @var{b}) ## @deftypefnx {Function File} {} ctrb (@var{a}, @var{b}) -## Build controllability matrix +## Build controllability matrix: +## @iftex +## @tex +## $$ Q_s = [ B AB A^2B \ldots A^{n-1}B ] $$ +## @end tex +## @end iftex +## @ifinfo ## @example ## 2 n-1 ## Qs = [ B AB A B ... A B ] ## @end example +## @end ifinfo ## ## of a system data structure or the pair (@var{a}, @var{b}). ## -## @code{ctrb} forms the controllability matrix. -## The numerical properties of @code{is_controllable} +## @command{ctrb} forms the controllability matrix. +## The numerical properties of @command{is_controllable} ## are much better for controllability tests. ## @end deftypefn
--- a/scripts/control/base/damp.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/damp.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,7 +19,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} damp (@var{p}, @var{tsam}) ## Displays eigenvalues, natural frequencies and damping ratios -## of the eigenvalues of a matrix @var{p} or the @math{A}-matrix of a +## of the eigenvalues of a matrix @var{p} or the @math{A} matrix of a ## system @var{p}, respectively. ## If @var{p} is a system, @var{tsam} must not be specified. ## If @var{p} is a matrix and @var{tsam} is specified, eigenvalues
--- a/scripts/control/base/dare.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/dare.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,14 +18,14 @@ ## 02111-1307, USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} dare (@var{a}, @var{b}, @var{q}, @var{r}, @var{opt}) +## @deftypefn {Function File} {@var{x} =} dare (@var{a}, @var{b}, @var{q}, @var{r}, @var{opt}) ## ## Return the solution, @var{x} of the discrete-time algebraic Riccati ## equation ## @iftex ## @tex ## $$ -## A^TXA - X + A^TXB (R + B^TXB)^{-1} B^TXA + Q = 0 +## A^TXA - X + A^TXB (R + B^TXB)^{-1} B^TXA + Q = 0 ## $$ ## @end tex ## @end iftex @@ -39,33 +39,36 @@ ## @strong{Inputs} ## @table @var ## @item a -## @var{n} by @var{n}. +## @var{n} by @var{n} matrix; ## ## @item b -## @var{n} by @var{m}. +## @var{n} by @var{m} matrix; ## ## @item q -## @var{n} by @var{n}, symmetric positive semidefinite, or @var{p} by @var{n}. -## In the latter case @math{q:=q'*q} is used. +## @var{n} by @var{n} matrix, symmetric positive semidefinite, or a @var{p} by @var{n} matrix, +## In the latter case @math{q:=q'*q} is used; ## ## @item r -## @var{m} by @var{m}, symmetric positive definite (invertible). +## @var{m} by @var{m}, symmetric positive definite (invertible); ## ## @item opt ## (optional argument; default = @code{"B"}): ## String option passed to @code{balance} prior to ordered @var{QZ} decomposition. ## @end table ## -## @strong{Outputs} -## @var{x} solution of DARE. +## @strong{Output} +## @table @var +## @item x +## solution of @acronym{DARE}. +## @end table ## ## @strong{Method} -## Generalized eigenvalue approach (Van Dooren; SIAM J. +## Generalized eigenvalue approach (Van Dooren; @acronym{SIAM} J. ## Sci. Stat. Comput., Vol 2) applied to the appropriate symplectic pencil. ## -## See also: Ran and Rodman, "Stable Hermitian Solutions of Discrete -## Algebraic Riccati Equations," Mathematics of Control, Signals and -## Systems, Vol 5, no 2 (1992) pp 165-194. +## See also: Ran and Rodman, @cite{Stable Hermitian Solutions of Discrete +## Algebraic Riccati Equations}, Mathematics of Control, Signals and +## Systems, Vol 5, no 2 (1992), pp 165--194. ## ## @end deftypefn ## @seealso{balance and are}
--- a/scripts/control/base/dcgain.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/dcgain.m Wed Sep 22 02:50:36 2004 +0000 @@ -21,7 +21,7 @@ ## Returns dc-gain matrix. If dc-gain is infinite ## an empty matrix is returned. ## The argument @var{tol} is an optional tolerance for the condition -## number of the @math{A}-Matrix in @var{sys} (default @var{tol} = 1.0e-10) +## number of the @math{A} Matrix in @var{sys} (default @var{tol} = 1.0e-10) ## @end deftypefn ## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
--- a/scripts/control/base/dgram.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/dgram.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,11 +18,18 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} dgram (@var{a}, @var{b}) -## Return controllability grammian of discrete time system +## Return controllability gramian of discrete time system +## @iftex +## @tex +## $$ x_{k+1} = ax_k + bu_k $$ +## @end tex +## @end iftex +## @ifinfo ## @example ## x(k+1) = a x(k) + b u(k) ## @end example -## +## @end ifinfo +## ## @strong{Inputs} ## @table @var ## @item a @@ -31,11 +38,22 @@ ## @var{n} by @var{m} matrix ## @end table ## -## @strong{Outputs} +## @strong{Output} +## @table @var +## @item m +## @var{n} by @var{n} matrix, satisfies +## @iftex +## @tex +## $$ ama^T - m + bb^T = 0 $$ +## @end tex +## @end iftex +## @ifinfo ## @var{m} (@var{n} by @var{n}) satisfies ## @example ## a m a' - m + b*b' = 0 ## @end example +## @end ifinfo +## @end table ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
--- a/scripts/control/base/dlyap.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/dlyap.m Wed Sep 22 02:50:36 2004 +0000 @@ -23,25 +23,51 @@ ## @strong{Inputs} ## @table @var ## @item a -## @var{n} by @var{n} matrix +## @var{n} by @var{n} matrix; ## @item b ## Matrix: @var{n} by @var{n}, @var{n} by @var{m}, or @var{p} by @var{n}. ## @end table ## -## @strong{Outputs} -## @var{x}: matrix satisfying appropriate discrete time Lyapunov equation. +## @strong{Output} +## @table @var +## @item x +## matrix satisfying appropriate discrete time Lyapunov equation. +## @end table +## ## Options: ## @itemize @bullet -## @item @var{b} is square: solve @code{a x a' - x + b = 0} +## @item @var{b} is square: solve +## @iftex +## @tex +## $$ axa^T - x + b = 0 $$ +## @end tex +## @end iftex +## @ifinfo +## @code{a x a' - x + b = 0} +## @end ifinfo ## @item @var{b} is not square: @var{x} satisfies either +## @iftex +## @tex +## $$ axa^T - x + bb^T = 0 $$ +## @end tex +## @end iftex +## @ifinfo ## @example ## a x a' - x + b b' = 0 ## @end example +## @end ifinfo ## @noindent ## or +## @iftex +## @tex +## $$ a^Txa - x + b^Tb = 0, $$ +## @end tex +## @end iftex +## @ifinfo ## @example ## a' x a - x + b' b = 0, ## @end example +## @end ifinfo ## @noindent ## whichever is appropriate. ## @end itemize @@ -54,7 +80,7 @@ ## ## Column-by-column solution method as suggested in ## Hammarling, @cite{Numerical Solution of the Stable, Non-Negative -## Definite Lyapunov Equation}, IMA Journal of Numerical Analysis, Volume +## Definite Lyapunov Equation}, @acronym{IMA} Journal of Numerical Analysis, Volume ## 2, pages 303--323 (1982). ## @end deftypefn
--- a/scripts/control/base/dre.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/dre.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{tvals}, @var{plist}] =} dre (@var{sys}, @var{q}, @var{r}, @var{qf}, @var{t0}, @var{tf}, @var{ptol}, @var{maxits}); +## @deftypefn {Function File} {[@var{tvals}, @var{plist}] =} dre (@var{sys}, @var{q}, @var{r}, @var{qf}, @var{t0}, @var{tf}, @var{ptol}, @var{maxits}) ## Solve the differential Riccati equation ## @ifinfo ## @example @@ -28,19 +28,19 @@ ## @iftex ## @tex ## $$ -{dP \over dt} = A^T P+PA-PBR^{-1}B^T P+Q $$ -## $$ P(t_f) = Qf $$ +## $$ P(t_f) = Q_f $$ ## @end tex ## @end iftex -## for the LTI system sys. Solution of standard LTI -## state feedback optimization +## for the @acronym{LTI} system sys. Solution of +## standard @acronym{LTI} state feedback optimization ## @ifinfo ## @example -## min \int_@{t_0@}^@{t_f@} x' Q x + u' R u dt + x(t_f)' Qf x(t_f) +## min int(t0, tf) ( x' Q x + u' R u ) dt + x(tf)' Qf x(tf) ## @end example ## @end ifinfo ## @iftex ## @tex -## $$ \min \int_{t_0}^{t_f} x^T Q x + u^T R u dt + x(t_f)^T Qf x(t_f) $$ +## $$ \min \int_{t_0}^{t_f} x^T Q x + u^T R u dt + x(t_f)^T Q_f x(t_f) $$ ## @end tex ## @end iftex ## optimal input is @@ -77,15 +77,21 @@ ## @item tvals ## time values at which @var{p}(@var{t}) is computed ## @item plist -## list values of @var{p}(@var{t}); @var{plist} @{ @var{ii} @} -## is @var{p}(@var{tvals}(@var{ii})). -## -## @item tvals +## list values of @var{p}(@var{t}); @var{plist} @{ @var{i} @} +## is @var{p}(@var{tvals}(@var{i})) +## @end table +## @var{tvals} is selected so that: +## @iftex +## @tex +## $$ \Vert plist_{i} - plist_{i-1} \Vert < ptol $$ +## @end tex +## @end iftex +## @ifinfo ## @example -## is selected so that || Plist@{ii@} - Plist@{ii-1@} || < Ptol -## for ii=2:length(tvals) +## || Plist@{i@} - Plist@{i-1@} || < Ptol ## @end example -## @end table +## @end ifinfo +## for every @var{i} between 2 and length(@var{tvals}). ## @end deftypefn function [tvals, Plist] = dre (sys, Q, R, Qf, t0, tf, Ptol, maxits)
--- a/scripts/control/base/frdemo.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/frdemo.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,7 +18,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} frdemo () -## Octave Controls toolbox demo: Frequency Response demo +## Octave Control Toolbox demo: Frequency Response demo. ## @end deftypefn ## Author: David Clem
--- a/scripts/control/base/freqchkw.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/freqchkw.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,7 +18,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} freqchkw (@var{w}) -## Used by @code{__freqresp__} to check that input frequency vector @var{w} +## Used by @command{__freqresp__} to check that input frequency vector @var{w} ## is valid. ## Returns boolean value. ## @end deftypefn
--- a/scripts/control/base/gram.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/gram.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,7 +18,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} gram (@var{a}, @var{b}) -## Return controllability grammian @var{m} of the continuous time system +## Return controllability gramian @var{m} of the continuous time system ## @math{dx/dt = a x + b u}. ## ## @var{m} satisfies @math{a m + m a' + b b' = 0}.
--- a/scripts/control/base/impulse.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/impulse.m Wed Sep 22 02:50:36 2004 +0000 @@ -36,12 +36,17 @@ ## the number of data values. ## ## Both parameters @var{tstop} and @var{n} can be omitted and will be -## computed from the eigenvalues of the A-Matrix. +## computed from the eigenvalues of the A Matrix. ## @end table ## @strong{Outputs} -## @var{y}, @var{t}: impulse response +## @table @var +## @item y +## Values of the impulse response. +## @item t +## Times of the impulse response. +## @end table ## @end deftypefn -## @seealso{step and __stepimp__} +## @seealso{step, __stepimp__} ## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de> ## Created: October 2, 1997
--- a/scripts/control/base/lqg.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/lqg.m Wed Sep 22 02:50:36 2004 +0000 @@ -38,9 +38,9 @@ ## intensities of independent Gaussian noise processes (as above) ## @item q ## @itemx r -## state, control weighting respectively. Control ARE is +## state, control weighting respectively. Control @acronym{ARE} is ## @item in_idx -## names or indices of controlled inputs (see @code{sysidx}, @code{cellidx}) +## names or indices of controlled inputs (see @command{sysidx}, @command{cellidx}) ## ## default: last dim(R) inputs are assumed to be controlled inputs, all ## others are assumed to be noise inputs. @@ -48,17 +48,17 @@ ## @strong{Outputs} ## @table @var ## @item k -## system data structure format LQG optimal controller (Obtain A,B,C -## matrices with @code{sys2ss}, @code{sys2tf}, or @code{sys2zp} as -## appropriate) +## system data structure format @acronym{LQG} optimal controller (Obtain A, B, C +## matrices with @command{sys2ss}, @command{sys2tf}, or @command{sys2zp} as +## appropriate). ## @item p1 -## Solution of control (state feedback) algebraic Riccati equation +## Solution of control (state feedback) algebraic Riccati equation. ## @item q1 -## Solution of estimation algebraic Riccati equation +## Solution of estimation algebraic Riccati equation. ## @item ee -## estimator poles +## Estimator poles. ## @item es -## controller poles +## Controller poles. ## @end table ## @end deftypefn ## @seealso{h2syn, lqe, and lqr}
--- a/scripts/control/base/lqr.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/lqr.m Wed Sep 22 02:50:36 2004 +0000 @@ -107,8 +107,8 @@ ## @end table ## ## @strong{Reference} -## Anderson and Moore, OPTIMAL CONTROL: LINEAR QUADRATIC METHODS, -## Prentice-Hall, 1990, pp. 56-58 +## Anderson and Moore, @cite{Optimal control: linear quadratic methods}, +## Prentice-Hall, 1990, pp. 56--58. ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
--- a/scripts/control/base/lsim.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/lsim.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,21 +17,19 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} lsim (@var{sys}, @var{u}, @var{t}, @var{x0}) -## Produce output for a linear simulation of a system -## -## Produces a plot for the output of the system, sys. +## @deftypefn {Function File} {[@var{y}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t}, @var{x0}) +## Produce output for a linear simulation of a system; produces +## a plot for the output of the system, @var{sys}. ## -## U is an array that contains the system's inputs. Each row in u -## corresponds to a different time step. Each column in u corresponds to a -## different input. T is an array that contains the time index of the -## system. T should be regularly spaced. If initial conditions are required -## on the system, the x0 vector should be added to the argument list. +## @var{u} is an array that contains the system's inputs. Each row in @var{u} +## corresponds to a different time step. Each column in @var{u} corresponds to a +## different input. @var{t} is an array that contains the time index of the +## system; @var{t} should be regularly spaced. If initial conditions are required +## on the system, the @var{x0} vector should be added to the argument list. ## -## When the lsim function is invoked with output parameters: -## [y,x] = lsim(sys,u,t,[x0]) -## a plot is not displayed, however, the data is returned in y = system output -## and x = system states. +## When the lsim function is invoked a plot is not displayed; +## however, the data is returned in @var{y} (system output) +## and @var{x} (system states). ## @end deftypefn ## Author: David Clem
--- a/scripts/control/base/ltifr.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/ltifr.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,9 +17,10 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} ltifr (@var{a}, @var{b}, @var{w}) -## @deftypefnx {Function File} {} ltifr (@var{sys}, @var{w}) -## Linear time invariant frequency response of single input systems +## @deftypefn {Function File} {@var{out} =} ltifr (@var{a}, @var{b}, @var{w}) +## @deftypefnx {Function File} {@var{out} =} ltifr (@var{sys}, @var{w}) +## Linear time invariant frequency response of single-input systems. +## ## @strong{Inputs} ## @table @var ## @item a @@ -30,12 +31,22 @@ ## @item w ## vector of frequencies ## @end table -## @strong{Outputs} -## @var{out} +## @strong{Output} +## @table @var +## @item out +## frequency response, that is: +## @end table +## @iftex +## @tex +## $$ G(j\omega) = (j\omegaI-A)^{-1}B $$ +## @end tex +## @end iftex +## @ifinfo ## @example ## -1 -## G(s) = (jw I-A) B +## G(s) = (jw I-A) B ## @end example +## @end ifinfo ## for complex frequencies @math{s = jw}. ## @end deftypefn
--- a/scripts/control/base/lyap.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/lyap.m Wed Sep 22 02:50:36 2004 +0000 @@ -21,7 +21,7 @@ ## @deftypefn {Function File} {} lyap (@var{a}, @var{b}, @var{c}) ## @deftypefnx {Function File} {} lyap (@var{a}, @var{b}) ## Solve the Lyapunov (or Sylvester) equation via the Bartels-Stewart -## algorithm (Communications of the ACM, 1972). +## algorithm (Communications of the @acronym{ACM}, 1972). ## ## If @var{a}, @var{b}, and @var{c} are specified, then @code{lyap} returns ## the solution of the Sylvester equation @@ -35,7 +35,7 @@ ## a x + x b + c = 0 ## @end example ## @end ifinfo -## If only @code{(a, b)} are specified, then @code{lyap} returns the +## If only @code{(a, b)} are specified, then @command{lyap} returns the ## solution of the Lyapunov equation ## @iftex ## @tex
--- a/scripts/control/base/nichols.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/nichols.m Wed Sep 22 02:50:36 2004 +0000 @@ -20,35 +20,65 @@ ## @deftypefn {Function File} {[@var{mag}, @var{phase}, @var{w}] =} nichols (@var{sys}, @var{w}, @var{outputs}, @var{inputs}) ## Produce Nichols plot of a system. ## -## inputs: -## sys: system data structure (must be either purely continuous or discrete; -## see is_digital) -## w: frequency values for evaluation. -## if sys is continuous, then nichols evaluates G(jw) -## if sys is discrete, then nichols evaluates G(exp(jwT)), where T=sys.tsam -## (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 -## 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 -## to jwT in [0,2p*pi] -## (3) A "smoothing" routine is used to ensure that the plot phase does -## not change excessively from point to point and that singular -## points (e.g., crossovers from +/- 180) are accurately shown. -## outputs, inputs: the names or indices of the output(s) and input(s) -## to be used in the frequency response; see sysprune. -## outputs: -## mag, phase: the magnitude and phase of the frequency response -## G(jw) or G(exp(jwT)) at the selected frequency values. -## w: the vector of frequency values used -## If no output arguments are given, nichols plots the results to the screen. -## Descriptive labels are automatically placed. See xlabel, ylable, title, -## and replot. +## @strong{Inputs} +## @table @var +## @item sys +## System data structure (must be either purely continuous or discrete; +## see @command{is_digital}). +## @item w +## Frequency values for evaluation. +## @itemize +## @item if sys is continuous, then nichols evaluates @math{G(jw)}. +## @item if sys is discrete, then nichols evaluates @math{G(exp(jwT))}, +## where @var{T}=@var{sys}. @var{tsam} is the system sampling time. +## @item the default frequency range is selected as follows (These +## steps are @strong{not} performed if @var{w} is specified): +## @enumerate +## @item via routine @command{__bodquist__}, isolate all poles and zeros away from +## @var{w}=0 (@math{jw=0} or @math{exp(jwT)=1}) and select the frequency range +## based on the breakpoint locations of the frequencies. +## @item if sys is discrete time, the frequency range is limited to jwT in +## @iftex +## @tex +## $ [0, 2p\pi] $. +## @end tex +## @end iftex +## @ifinfo +## [0,2p*pi]. +## @end ifinfo +## @item A ``smoothing'' routine is used to ensure that the plot phase does +## not change excessively from point to point and that singular points +## (e.g., crossovers from +/- 180) are accurately shown. +## @end enumerate +## @end itemize +## @item outputs +## @itemx inputs +## the names or indices of the output(s) and input(s) to be used in the +## frequency response; see @command{sysprune}. +## @end table +## @strong{Outputs} +## @table @var +## @item mag +## @itemx phase +## The magnitude and phase of the frequency response @math{G(jw)} or +## @math{G(exp(jwT))} at the selected frequency values. +## @item w +## The vector of frequency values used. +## @end table +## If no output arguments are given, @command{nichols} plots the results to the screen. +## Descriptive labels are automatically placed. See @command{xlabel}, +## @command{ylabel}, @command{title}, and @command{replot}. ## -## Note: if the requested plot is for an MIMO system, mag is set to -## ||G(jw)|| or ||G(exp(jwT))|| and phase information is not computed. +## Note: if the requested plot is for an @acronym{MIMO} system, @var{mag} is set to +## @iftex +## @tex +## $ \Vert G(jw) \Vert $ or $ \Vert G( {\rm exp}(jwT) \Vert $ +## @end tex +## @end iftex +## @ifinfo +## ||G(jw)|| or ||G(exp(jwT))|| +## @end ifinfo +## and phase information is not computed. ## @end deftypefn function [mag, phase, w] = nichols (sys, w, outputs, inputs)
--- a/scripts/control/base/nyquist.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/nyquist.m Wed Sep 22 02:50:36 2004 +0000 @@ -23,22 +23,22 @@ ## plot is printed to the screen. ## ## Compute the frequency response of a system. +## ## @strong{Inputs} (pass as empty to get default values) ## @table @var ## @item sys ## system data structure (must be either purely continuous or discrete; -## see is_digital) +## see @code{is_digital}) ## @item w ## frequency values for evaluation. -## if sys is continuous, then bode evaluates @math{G(jw)} -## if sys is discrete, then bode evaluates @math{G(exp(jwT))}, where -## @math{T} is the system sampling time. +## If sys is continuous, then bode evaluates @math{G(@var{jw})}; +## if sys is discrete, then bode evaluates @math{G(exp(@var{jwT}))}, +## where @var{T} is the system sampling time. ## @item default ## the default frequency range is selected as follows: (These -## steps are NOT performed if @var{w} is specified) -## @end table +## steps are @strong{not} performed if @var{w} is specified) ## @enumerate -## @item via routine __bodquist__, isolate all poles and zeros away from +## @item via routine @command{__bodquist__}, isolate all poles and zeros away from ## @var{w}=0 (@var{jw}=0 or @math{exp(@var{jwT})=1}) and select the frequency ## range based on the breakpoint locations of the frequencies. ## @item if @var{sys} is discrete time, the frequency range is limited @@ -47,17 +47,14 @@ ## [0,2p*pi] ## @end ifinfo ## @iftex -## $[0,2p*\pi]$ +## @tex +## $ [ 0,2 p \pi ] $ +## @end tex ## @end iftex -## @item A "smoothing" routine is used to ensure that the plot phase does +## @item A ``smoothing'' routine is used to ensure that the plot phase does ## not change excessively from point to point and that singular ## points (e.g., crossovers from +/- 180) are accurately shown. ## @end enumerate -## outputs, inputs: names or indices of the output(s) and input(s) to be -## used in the frequency response; see sysprune. -## -## @strong{Inputs} (pass as empty to get default values) -## @table @var ## @item atol ## for interactive nyquist plots: atol is a change-in-slope tolerance ## for the of asymptotes (default = 0; 1e-2 is a good choice). This allows @@ -70,7 +67,7 @@ ## @itemx imagp ## the real and imaginary parts of the frequency response ## @math{G(jw)} or @math{G(exp(jwT))} at the selected frequency values. -## @item w +## @item w ## the vector of frequency values used ## @end table ## @@ -79,9 +76,17 @@ ## interactively if they wish to zoom in (remove asymptotes) ## Descriptive labels are automatically placed. ## -## Note: if the requested plot is for an MIMO system, a warning message is +## Note: if the requested plot is for an @acronym{MIMO} system, a warning message is ## presented; the returned information is of the magnitude -## ||G(jw)|| or ||G(exp(jwT))|| only; phase information is not computed. +## @iftex +## @tex +## $ \Vert G(jw) \Vert $ or $ \Vert G( {\rm exp}(jwT) \Vert $ +## @end tex +## @end iftex +## @ifinfo +## ||G(jw)|| or ||G(exp(jwT))|| +## @end ifinfo +## only; phase information is not computed. ## @end deftypefn ## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
--- a/scripts/control/base/obsv.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/obsv.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,8 +17,19 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -##@deftypefn {Function File} {} obsv (@var{sys}, @var{c}) -## Build observability matrix +## @deftypefn {Function File} {} obsv (@var{sys}, @var{c}) +## @deftypefnx {Function File} {} obsv (@var{a}, @var{c}) +## Build observability matrix: +## @iftex +## @tex +## $$ Q_b = \left[ \matrix{ C \cr +## CA \cr +## CA^2 \cr +## \vdots \cr +## CA^{n-1} } \right ] $$ +## @end tex +## @end iftex +## @ifinfo ## @example ## @group ## | C | @@ -28,11 +39,10 @@ ## | CA^(n-1) | ## @end group ## @end example -## of a system data structure or the pair (A, C). +## @end ifinfo +## of a system data structure or the pair (@var{a}, @var{c}). ## -## Note: @code{obsv()} forms the observability matrix. -## -## The numerical properties of is_observable() +## The numerical properties of @command{is_observable} ## are much better for observability tests. ## @end deftypefn
--- a/scripts/control/base/place.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/place.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,10 +17,10 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} place (@var{sys}, @var{p}) -## Computes the matrix K such that if the state -## is feedback with gain K, then the eigenvalues of the closed loop -## system (i.e. A-BK) are those specified in the vector @var{p}. +## @deftypefn {Function File} {@var{K} =} place (@var{sys}, @var{p}) +## Computes the matrix @var{K} such that if the state +## is feedback with gain @var{K}, then the eigenvalues of the closed loop +## system (i.e. @math{A-BK}) are those specified in the vector @var{p}. ## ## Version: Beta (May-1997): If you have any comments, please let me know. ## (see the file place.m for my address)
--- a/scripts/control/base/pzmap.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/pzmap.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,15 +17,23 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[@var{zer}, @var{pol}]=} pzmap (@var{sys}) +## @deftypefn {Function File} {[@var{zer}, @var{pol}] =} pzmap (@var{sys}) ## Plots the zeros and poles of a system in the complex plane. -## @strong{Inputs} -## @var{sys} system data structure +## +## @strong{Input} +## @table @var +## @item sys +## System data structure. +## @end table ## ## @strong{Outputs} +## @table @var +## @item pol +## @item zer ## if omitted, the poles and zeros are plotted on the screen. -## otherwise, pol, zer are returned as the system poles and zeros. -## (see sys2zp for a preferable function call) +## otherwise, @var{pol} and @var{zer} are returned as the +## system poles and zeros (see @command{sys2zp} for a preferable function call). +## @end table ## @end deftypefn function [zer, pol]=pzmap (sys)
--- a/scripts/control/base/rldemo.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/rldemo.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,9 +17,9 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -##@deftypefn {Function File} {} rldemo (@var{inputs}) -##Octave Controls toolbox demo: Root Locus demo -##@end deftypefn +## @deftypefn {Function File} {} rldemo (@var{inputs}) +## Octave Control toolbox demo: Root Locus demo. +## @end deftypefn ## Author: David Clem ## Created: August 15, 1994
--- a/scripts/control/base/rlocus.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/rlocus.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,25 +17,40 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} rlocus (@var{inputs}) -## @format -## [rldata, k] = rlocus(sys[,increment,min_k,max_k]) -## Displays root locus plot of the specified SISO system. +## @deftypefn {Function File} {[@var{rldata}, @var{k}] =} rlocus (@var{sys}[, @var{increment}, @var{min_k}, @var{max_k}]) ## +## Displays root locus plot of the specified @acronym{SISO} system. +## @example +## @group ## ----- --- -------- ## --->| + |---|k|---->| SISO |-----------> ## ----- --- -------- | ## - ^ | ## |_____________________________| +## @end group +## @end example ## -## inputs: sys = system data structure -## min_k, max_k,increment: minimum, maximum values of k and -## the increment used in computing gain values -## Outputs: plots the root locus to the screen. -## rldata: Data points plotted column 1: real values, column 2: imaginary -## values) -## k: gains for real axis break points. -## @end format +## @strong{Inputs} +## @table @var +## @item sys +## system data structure +## @item min_k +## Minimum value of @var{k} +## @item max_k +## Maximum value of @var{k} +## @item increment +## The increment used in computing gain values +## @end table +## +## @strong{Outputs} +## +## Plots the root locus to the screen. +## @table @var +## @item rldata +## Data points plotted: in column 1 real values, in column 2 the imaginary values. +## @item k +## Gains for real axis break points. +## @end table ## @end deftypefn ## Author: David Clem
--- a/scripts/control/base/step.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/step.m Wed Sep 22 02:50:36 2004 +0000 @@ -36,12 +36,17 @@ ## the number of data values. ## ## Both parameters @var{tstop} and @var{n} can be omitted and will be -## computed from the eigenvalues of the A-Matrix. +## computed from the eigenvalues of the A Matrix. ## @end table ## @strong{Outputs} -## @var{y}, @var{t}: impulse response +## @table @var +## @item y +## Values of the step response. +## @item t +## Times of the step response. +## @end table ## -## When invoked with the output paramter y the plot is not displayed. +## When invoked with the output parameter @var{y} the plot is not displayed. ## @end deftypefn ## @seealso{impulse and __stepimp__}
--- a/scripts/control/base/tzero.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/tzero.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,32 +17,48 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} tzero (@var{a}, @var{b}, @var{c}, @var{d}, @var{opt}) -## @deftypefnx {Function File} {} tzero (@var{sys}, @var{opt}) -## Compute transmission zeros of a continuous +## @deftypefn {Function File} {[@var{zer}, @var{gain}] =} tzero (@var{a}, @var{b}, @var{c}, @var{d}, @var{opt}) +## @deftypefnx {Function File} {[@var{zer}, @var{gain}] =} tzero (@var{sys}, @var{opt}) +## Compute transmission zeros of a continuous system: +## @iftex +## @tex +## $$ \dot x = Ax + Bu $$ +## $$ y = Cx + Du $$ +## @end tex +## @end iftex +## @ifinfo ## @example ## . ## x = Ax + Bu ## y = Cx + Du ## @end example -## or discrete +## @end ifinfo +## or of a discrete one: +## @iftex +## @tex +## $$ x_{k+1} = Ax_k + Bu_k $$ +## $$ y_k = Cx_k + Du_k $$ +## @end tex +## @end iftex +## @ifinfo ## @example ## x(k+1) = A x(k) + B u(k) ## y(k) = C x(k) + D u(k) ## @end example -## system. +## @end ifinfo +## ## @strong{Outputs} ## @table @var ## @item zer ## transmission zeros of the system ## @item gain -## leading coefficient (pole-zero form) of SISO transfer function +## leading coefficient (pole-zero form) of @acronym{SISO} transfer function ## returns gain=0 if system is multivariable ## @end table ## @strong{References} ## @enumerate ## @item Emami-Naeini and Van Dooren, Automatica, 1982. -## @item Hodel, "Computation of Zeros with Balancing," 1992 Lin. Alg. Appl. +## @item Hodel, @cite{Computation of Zeros with Balancing}, 1992 Lin. Alg. Appl. ## @end enumerate ## @end deftypefn
--- a/scripts/control/base/tzero2.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/base/tzero2.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,13 +17,13 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} tzero2 (@var{a}, @var{b}, @var{c}, @var{d}, @var{bal}) -## Compute the transmission zeros of a, b, c, d. +## @deftypefn {Function File} {@var{zr} =} tzero2 (@var{a}, @var{b}, @var{c}, @var{d}, @var{bal}) +## Compute the transmission zeros of @var{a}, @var{b}, @var{c}, @var{d}. ## -## bal = balancing option (see balance); default is "B". +## @var{bal} = balancing option (see balance); default is @code{"B"}. ## -## Needs to incorporate @code{mvzero} algorithm to isolate finite zeros; use -## @code{tzero} instead. +## Needs to incorporate @command{mvzero} algorithm to isolate finite zeros; +## use @command{tzero} instead. ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
--- a/scripts/control/hinf/dgkfdemo.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/dgkfdemo.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,7 +18,16 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} dgkfdemo () -## Octave Controls toolbox demo: H2/Hinfinity options demos +## Octave Controls toolbox demo: +## @iftex +## @tex +## $ { \cal H }_2 $/$ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-2/H-infinity +## @end ifinfo +## options demos. ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
--- a/scripts/control/hinf/dhinfdemo.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/dhinfdemo.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,28 +18,55 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} dhinfdemo () -## Demonstrate the functions available for designining a discrete -## H_infinity controller. This is not a true discrete design. The +## Demonstrate the functions available to design a discrete +## @iftex +## @tex +## $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-infinity +## @end ifinfo +## controller. This is not a true discrete design. The ## design is carried out in continuous time while the effect of sampling ## is described by a bilinear transformation of the sampled system. ## This method works quite well if the sampling period is "small" ## compared to the plant time constants. ## ## Continuous plant: -## +## @iftex +## @tex +## $$ G(s) = { 1 \over (s+2) (s+1) } $$ +## @end tex +## @end iftex +## @ifinfo ## @example +## @group ## 1 ## G(s) = -------------- ## (s + 2)(s + 1) +## @end group ## @end example +## @end ifinfo ## -## Discretised plant with ZOH (Sampling period = Ts = 1 second): +## Discretised plant with @acronym{ZOH} (Sampling period = @var{Ts} = 1 second): +## @iftex +## @tex +## $$ G(z) = { 0.39958z + 0.14700 \over (z - 0.36788) (z - 0.13533) } $$ +## @end tex +## @end iftex +## @ifinfo +## @example +## @group +## 0.39958z + 0.14700 +## G(z) = -------------------------- +## (z - 0.36788)(z - 0.13533) +## @end group +## @end example +## @end ifinfo ## ## @example -## 0.39958z + 0.14700 -## G(s) = -------------------------- -## (z - 0.36788)(z - 0.13533) -## +## @group ## +----+ ## -------------------->| W1 |---> v1 ## z | +----+ @@ -52,6 +79,7 @@ ## | +---+ | ## -----| K |<------- ## +---+ +## @end group ## @end example ## ## @noindent
--- a/scripts/control/hinf/h2norm.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/h2norm.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,12 +17,29 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function Fil} {} h2norm (@var{sys}) -## Computes the H2 norm of a system data structure (continuous time only) +## @deftypefn {Function File} {} h2norm (@var{sys}) +## Computes the +## @iftex +## @tex +## $ { \cal H }_2 $ +## @end tex +## @end iftex +## @ifinfo +## H-2 +## @end ifinfo +## norm of a system data structure (continuous time only). ## ## Reference: -## Doyle, Glover, Khargonekar, Francis, ``State Space Solutions to Standard -## H2 and Hinf Control Problems", IEEE TAC August 1989 +## Doyle, Glover, Khargonekar, Francis, @cite{State-Space Solutions to Standard} +## @iftex +## @tex +## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## @cite{H-2 and H-infinity} +## @end ifinfo +## @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989. ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> @@ -50,7 +67,7 @@ M = lyap (a,b*b'); endif if( min(real(eig(M))) < 0) - error("h2norm: grammian not >= 0 (lightly damped modes?)") + error("h2norm: gramian not >= 0 (lightly damped modes?)") endif h2gain = sqrt(trace(d'*d + c*M*c'));
--- a/scripts/control/hinf/h2syn.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/h2syn.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,28 +17,44 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {[K}, @var{gain}, @var{kc}, @var{kf}, @var{pc}, @var{pf}] = h2syn (@var{asys}, @var{nu}, @var{ny}, @var{tol}) -## Design H2 optimal controller per procedure in -## Doyle, Glover, Khargonekar, Francis, "State Space Solutions to Standard -## H2 and Hinf Control Problems", IEEE TAC August 1989 +## @deftypefn {Function File} {[@var{K}, @var{gain}, @var{kc}, @var{kf}, @var{pc}, @var{pf}] = } h2syn (@var{asys}, @var{nu}, @var{ny}, @var{tol}) +## Design +## @iftex +## @tex +## $ { \cal H }_2 $ +## @end tex +## @end iftex +## @ifinfo +## H-2 +## @end ifinfo +## optimal controller per procedure in +## Doyle, Glover, Khargonekar, Francis, @cite{State-Space Solutions to Standard} +## @iftex +## @tex +## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## @cite{H-2 and H-infinity} +## @end ifinfo +## @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989. ## -## Discrete time control per Zhou, Doyle, and Glover, ROBUST AND OPTIMAL -## CONTROL, Prentice-Hall, 1996 +## Discrete-time control per Zhou, Doyle, and Glover, @cite{Robust and optimal control}, Prentice-Hall, 1996. ## -## @strong{Inputs} input system is passed as either +## @strong{Inputs} ## @table @var ## @item asys ## system data structure (see ss, sys2ss) ## @itemize @bullet ## @item controller is implemented for continuous time systems -## @item controller is NOT implemented for discrete time systems +## @item controller is @strong{not} implemented for discrete time systems ## @end itemize ## @item nu ## number of controlled inputs ## @item ny ## number of measured outputs ## @item tol -## threshhold for 0. Default: 200*eps +## threshold for 0. Default: 200*@code{eps} ## @end table ## ## @strong{Outputs} @@ -52,9 +68,9 @@ ## @item kf ## state estimator (packed) ## @item pc -## ARE solution matrix for regulator subproblem +## @acronym{ARE} solution matrix for regulator subproblem ## @item pf -## ARE solution matrix for filter subproblem +## @acronym{ARE} solution matrix for filter subproblem ## @end table ## @end deftypefn
--- a/scripts/control/hinf/hinf_ctr.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/hinf_ctr.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,8 +17,17 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} hinf_ctr (@var{dgs}, @var{f}, @var{h}, @var{z}, @var{g}) -## Called by @code{hinfsyn} to compute the H_inf optimal controller. +## @deftypefn {Function File} {@var{K} =} hinf_ctr (@var{dgs}, @var{f}, @var{h}, @var{z}, @var{g}) +## Called by @code{hinfsyn} to compute the +## @iftex +## @tex +## $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-infinity +## @end ifinfo +## optimal controller. ## ## @strong{Inputs} ## @table @var @@ -31,7 +40,10 @@ ## final gamma value ## @end table ## @strong{Outputs} +## @table @var +## @item K ## controller (system data structure) +## @end table ## ## Do not attempt to use this at home; no argument checking performed. ## @end deftypefn
--- a/scripts/control/hinf/hinfdemo.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/hinfdemo.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,28 +19,57 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} hinfdemo () ## -## H_infinity design demos for continuous SISO and MIMO systems and a -## discrete system. The SISO system is difficult to control because it -## is non minimum phase and unstable. The second design example -## controls the "jet707" plant, the linearized state space model of a -## Boeing 707-321 aircraft at v=80m/s (M = 0.26, Ga0 = -3 deg, alpha0 = -## 4 deg, kappa = 50 deg). Inputs: (1) thrust and (2) elevator angle -## outputs: (1) airspeed and (2) pitch angle. The discrete system is a +## @iftex +## @tex +## $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-infinity +## @end ifinfo +## design demos for continuous @acronym{SISO} and @acronym{MIMO} systems and a +## discrete system. The @acronym{SISO} system is difficult to control because +## it is non-minimum-phase and unstable. The second design example +## controls the @command{jet707} plant, the linearized state space model of a +## Boeing 707-321 aircraft at @var{v}=80 m/s +## @iftex +## @tex +## ($M = 0.26$, $G_{a0} = -3^{\circ}$, ${\alpha}_0 = 4^{\circ}$, ${\kappa}= 50^{\circ}$). +## @end tex +## @end iftex +## @ifinfo +## (@var{M} = 0.26, @var{Ga0} = -3 deg, @var{alpha0} = 4 deg, @var{kappa} = 50 deg). +## @end ifinfo +## Inputs: (1) thrust and (2) elevator angle +## Outputs: (1) airspeed and (2) pitch angle. The discrete system is a ## stable and second order. ## ## @table @asis -## @item SISO plant -## @display +## @item @acronym{SISO} plant: +## +## @iftex +## @tex +## $$ G(s) = { s-2 \over (s+2) (s-1) } $$ +## @end tex +## @end iftex +## @ifinfo +## @example ## @group ## s - 2 ## G(s) = -------------- ## (s + 2)(s - 1) +## @end group +## @end example +## @end ifinfo +## +## @example +## @group ## ## +----+ ## -------------------->| W1 |---> v1 ## z | +----+ -## ----|-------------+ || T || => min. -## | | vz infty +## ----|-------------+ +## | | ## | +---+ v y +----+ ## u *--->| G |--->O--*-->| W2 |---> v2 ## | +---+ | +----+ @@ -49,14 +78,36 @@ ## -----| K |<------- ## +---+ ## @end group -## @end display -## W1 und W2 are the robustness and performance weighting -## functions +## @end example +## +## @iftex +## @tex +## $$ { \rm min } \Vert T_{vz} \Vert _\infty $$ +## @end tex +## @end iftex +## @ifinfo +## @example +## min || T || +## vz infty +## @end example +## @end ifinfo ## -## @item MIMO plant -## The optimal controller minimizes the H_infinity norm of the -## augmented plant P (mixed-sensitivity problem): -## @display +## @var{W1} und @var{W2} are the robustness and performance weighting +## functions. +## +## @item @acronym{MIMO} plant: +## The optimal controller minimizes the +## @iftex +## @tex +## $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-infinity +## @end ifinfo +## norm of the +## augmented plant @var{P} (mixed-sensitivity problem): +## @example ## @group ## w ## 1 -----------+ @@ -70,11 +121,24 @@ ## | +----+ | +----+ ## | | ## ^ v -## u (from y (to K) -## controller -## K) +## u y (to K) +## (from controller K) +## @end group +## @end example ## -## +## @iftex +## @tex +## $$ \left [ \matrix{ z_1 \cr +## z_2 \cr +## y } \right ] = +## P \left [ \matrix{ w_1 \cr +## w_2 \cr +## u } \right ] $$ +## @end tex +## @end iftex +## @ifinfo +## @example +## @group ## + + + + ## | z | | w | ## | 1 | | 1 | @@ -83,37 +147,59 @@ ## | y | | u | ## + + + + ## @end group -## @end display +## @end example +## @end ifinfo ## -## @item DISCRETE SYSTEM +## @item Discrete system: ## This is not a true discrete design. The design is carried out ## in continuous time while the effect of sampling is described by ## a bilinear transformation of the sampled system. -## This method works quite well if the sampling period is "small" +## This method works quite well if the sampling period is ``small'' ## compared to the plant time constants. ## -## @item The continuous plant -## @display +## @item The continuous plant: +## @iftex +## @tex +## $$ G(s) = { 1 \over (s+2)(s+1) } $$ +## @end tex +## @end iftex +## +## @ifinfo +## @example ## @group ## 1 ## G (s) = -------------- ## k (s + 2)(s + 1) ## ## @end group -## @end display -## is discretised with a ZOH (Sampling period = Ts = 1 second): -## @display +## @end example +## @end ifinfo +## +## is discretised with a @acronym{ZOH} (Sampling period = @var{Ts} = 1 second): +## @iftex +## @tex +## $$ G(z) = { 0.199788z + 0.073498 \over (z - 0.36788) (z - 0.13534) } $$ +## @end tex +## @end iftex +## @ifinfo +## @example ## @group ## ## 0.199788z + 0.073498 -## G(s) = -------------------------- +## G(z) = -------------------------- ## (z - 0.36788)(z - 0.13534) +## @end group +## @end example +## @end ifinfo +## +## @example +## @group ## ## +----+ ## -------------------->| W1 |---> v1 ## z | +----+ -## ----|-------------+ || T || => min. -## | | vz infty +## ----|-------------+ +## | | ## | +---+ v +----+ ## *--->| G |--->O--*-->| W2 |---> v2 ## | +---+ | +----+ @@ -122,9 +208,20 @@ ## -----| K |<------- ## +---+ ## @end group -## @end display -## W1 and W2 are the robustness and performancs weighting -## functions +## @end example +## @iftex +## @tex +## $$ { \rm min } \Vert T_{vz} \Vert _\infty $$ +## @end tex +## @end iftex +## @ifinfo +## @example +## min || T || +## vz infty +## @end example +## @end ifinfo +## @var{W1} and @var{W2} are the robustness and performance weighting +## functions. ## @end table ## @end deftypefn
--- a/scripts/control/hinf/hinfnorm.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/hinfnorm.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,14 +18,31 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{g}, @var{gmin}, @var{gmax}] =} hinfnorm (@var{sys}, @var{tol}, @var{gmin}, @var{gmax}, @var{ptol}) -## Computes the H infinity norm of a system data structure. +## Computes the +## @iftex +## @tex +## $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-infinity +## @end ifinfo +## norm of a system data structure. ## ## @strong{Inputs} ## @table @var ## @item sys ## system data structure ## @item tol -## H infinity norm search tolerance (default: 0.001) +## @iftex +## @tex +## $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-infinity +## @end ifinfo +## norm search tolerance (default: 0.001) ## @item gmin ## minimum value for norm search (default: 1e-9) ## @item gmax @@ -34,14 +51,30 @@ ## pole tolerance: ## @itemize @bullet ## @item if sys is continuous, poles with -## |real(pole)| < ptol*||H|| (H is appropriate Hamiltonian) +## @iftex +## @tex +## $ \vert {\rm real}(pole) \vert < ptol \Vert H \Vert $ +## @end tex +## @end iftex +## @ifinfo +## @math{ |real(pole))| < ptol*||H|| } +## @end ifinfo +## (@var{H} is appropriate Hamiltonian) ## are considered to be on the imaginary axis. ## ## @item if sys is discrete, poles with -## |abs(pole)-1| < ptol*||[s1,s2]|| (appropriate symplectic pencil) -## are considered to be on the unit circle +## @iftex +## @tex +## $ \vert { \rm pole } - 1 \vert < ptol \Vert [ s_1 s_2 ] \Vert $ +## @end tex +## @end iftex +## @ifinfo +## @math{|abs(pole)-1| < ptol*||[s1,s2]||} +## @end ifinfo +## (appropriate symplectic pencil) +## are considered to be on the unit circle. ## -## @item Default: 1e-9 +## @item Default value: 1e-9 ## @end itemize ## @end table ## @@ -52,15 +85,31 @@ ## if the system is unstable. ## @item gmin ## @itemx gmax -## Actual system gain lies in the interval [@var{gmin}, @var{gmax}] +## Actual system gain lies in the interval [@var{gmin}, @var{gmax}]. ## @end table ## ## References: -## Doyle, Glover, Khargonekar, Francis, "State space solutions to standard -## H2 and Hinf control problems", IEEE TAC August 1989 -## Iglesias and Glover, "State-Space approach to discrete-time Hinf control," -## Int. J. Control, vol 54, #5, 1991 -## Zhou, Doyle, Glover, "Robust and Optimal Control," Prentice-Hall, 1996 +## Doyle, Glover, Khargonekar, Francis, @cite{State-space solutions to standard} +## @iftex +## @tex +## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## @cite{H-2 and H-infinity} +## @end ifinfo +## @cite{control problems}, @acronym{IEEE} @acronym{TAC} August 1989; +## Iglesias and Glover, @cite{State-Space approach to discrete-time} +## @iftex +## @tex +## $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## @cite{H-infinity} +## @end ifinfo +## @cite{control}, Int. J. Control, vol 54, no. 5, 1991; +## Zhou, Doyle, Glover, @cite{Robust and Optimal Control}, Prentice-Hall, 1996. ## @end deftypefn function [g, gmin, gmax] = hinfnorm (sys, tol, gmin, gmax, ptol)
--- a/scripts/control/hinf/hinfsyn.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/hinfsyn.m Wed Sep 22 02:50:36 2004 +0000 @@ -22,56 +22,101 @@ ## @strong{Inputs} input system is passed as either ## @table @var ## @item asys -## system data structure (see ss, sys2ss) +## system data structure (see @command{ss}, @command{sys2ss}) ## @itemize @bullet ## @item controller is implemented for continuous time systems -## @item controller is NOT implemented for discrete time systems (see -## bilinear transforms in @code{c2d}, @code{d2c}) +## @item controller is @strong{not} implemented for discrete time systems (see +## bilinear transforms in @command{c2d}, @command{d2c}) ## @end itemize ## @item nu ## number of controlled inputs ## @item ny ## number of measured outputs ## @item gmin -## initial lower bound on H-infinity optimal gain +## initial lower bound on +## @iftex +## @tex +## $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-infinity +## @end ifinfo +## optimal gain ## @item gmax -## initial upper bound on H-infinity optimal gain +## initial upper bound on +## @iftex +## @tex +## $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-infinity +## @end ifinfo +## Optimal gain. ## @item gtol -## gain threshhold. Routine quits when gmax/gmin < 1+tol +## Gain threshold. Routine quits when @var{gmax}/@var{gmin} < 1+tol. ## @item ptol -## poles with abs(real(pole)) < ptol*||H|| (H is appropriate +## poles with @code{abs(real(pole))} +## @iftex +## @tex +## $ < ptol \Vert H \Vert $ +## @end tex +## @end iftex +## @ifinfo +## < ptol*||H|| +## @end ifinfo +## (@var{H} is appropriate ## Hamiltonian) are considered to be on the imaginary axis. -## Default: 1e-9 +## Default: 1e-9. ## @item tol -## threshhold for 0. Default: 200*eps +## threshold for 0. Default: 200*@code{eps}. ## ## @var{gmax}, @var{min}, @var{tol}, and @var{tol} must all be postive scalars. ## @end table ## @strong{Outputs} ## @table @var ## @item k -## system controller +## System controller. ## @item g -## designed gain value +## Designed gain value. ## @item gw -## closed loop system +## Closed loop system. ## @item xinf -## ARE solution matrix for regulator subproblem +## @acronym{ARE} solution matrix for regulator subproblem. ## @item yinf -## ARE solution matrix for filter subproblem +## @acronym{ARE} solution matrix for filter subproblem. ## @end table ## +## References: ## @enumerate -## @item Doyle, Glover, Khargonekar, Francis, "State Space Solutions -## to Standard H2 and Hinf Control Problems," IEEE TAC August 1989 +## @item Doyle, Glover, Khargonekar, Francis, @cite{State-Space Solutions +## to Standard} +## @iftex +## @tex +## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## @cite{H-2 and H-infinity} +## @end ifinfo +## @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989. ## -## @item Maciejowksi, J.M., "Multivariable feedback design," -## Addison-Wesley, 1989, ISBN 0-201-18243-2 +## @item Maciejowksi, J.M., @cite{Multivariable feedback design}, +## Addison-Wesley, 1989, @acronym{ISBN} 0-201-18243-2. ## -## @item Keith Glover and John C. Doyle, "State-space formulae for all -## stabilizing controllers that satisfy and h-infinity-norm bound -## and relations to risk sensitivity," -## Systems & Control Letters 11, Oct. 1988, pp 167-172. +## @item Keith Glover and John C. Doyle, @cite{State-space formulae for all +## stabilizing controllers that satisfy an} +## @iftex +## @tex +## $ { \cal H }_\infty $@cite{norm} +## @end tex +## @end iftex +## @ifinfo +## @cite{H-infinity-norm} +## @end ifinfo +## @cite{bound and relations to risk sensitivity}, +## Systems & Control Letters 11, Oct. 1988, pp 167--172. ## @end enumerate ## @end deftypefn
--- a/scripts/control/hinf/hinfsyn_chk.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/hinfsyn_chk.m Wed Sep 22 02:50:36 2004 +0000 @@ -20,13 +20,23 @@ ## @deftypefn {Function File} {[@var{retval}, @var{pc}, @var{pf}] =} hinfsyn_chk (@var{a}, @var{b1}, @var{b2}, @var{c1}, @var{c2}, @var{d12}, @var{d21}, @var{g}, @var{ptol}) ## Called by @code{hinfsyn} to see if gain @var{g} satisfies conditions in ## Theorem 3 of -## Doyle, Glover, Khargonekar, Francis, "State Space Solutions to Standard -## H2 and Hinf Control Problems", IEEE TAC August 1989 +## Doyle, Glover, Khargonekar, Francis, @cite{State Space Solutions to Standard} +## @iftex +## @tex +## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## @cite{H-2 and H-infinity} +## @end ifinfo +## @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989. ## -## @strong{Warning} Do not attempt to use this at home; no argument +## @strong{Warning:} do not attempt to use this at home; no argument ## checking performed. ## -## @strong{Inputs} as returned by @code{is_dgkf}, except for: +## @strong{Inputs} +## +## As returned by @code{is_dgkf}, except for: ## @table @var ## @item g ## candidate gain level @@ -39,9 +49,27 @@ ## @item retval ## 1 if g exceeds optimal Hinf closed loop gain, else 0 ## @item pc -## solution of "regulator" H-inf ARE +## solution of ``regulator'' +## @iftex +## @tex +## $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-infinity +## @end ifinfo +## @acronym{ARE} ## @item pf -## solution of "filter" H-inf ARE +## solution of ``filter'' +## @iftex +## @tex +## $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-infinity +## @end ifinfo +## @acronym{ARE} ## @end table ## Do not attempt to use this at home; no argument checking performed. ## @end deftypefn
--- a/scripts/control/hinf/hinfsyn_ric.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/hinfsyn_ric.m Wed Sep 22 02:50:36 2004 +0000 @@ -20,8 +20,8 @@ ## @deftypefn {Function File} {[@var{xinf}, @var{x_ha_err}] =} hinfsyn_ric (@var{a}, @var{bb}, @var{c1}, @var{d1dot}, @var{r}, @var{ptol}) ## Forms ## @example -## xx = ([BB; -C1'*d1dot]/R) * [d1dot'*C1 BB']; -## Ha = [A 0*A; -C1'*C1 -A'] - xx; +## xx = ([bb; -c1'*d1dot]/r) * [d1dot'*c1 bb']; +## Ha = [a 0*a; -c1'*c1 - a'] - xx; ## @end example ## and solves associated Riccati equation. ## The error code @var{x_ha_err} indicates one of the following
--- a/scripts/control/hinf/is_dgkf.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/is_dgkf.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,17 +19,17 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{retval}, @var{dgkf_struct} ] =} is_dgkf (@var{asys}, @var{nu}, @var{ny}, @var{tol} ) ## Determine whether a continuous time state space system meets -## assumptions of DGKF algorithm. +## assumptions of @acronym{DGKF} algorithm. ## Partitions system into: ## @example -## [dx/dt] = [A | Bw Bu ][w] -## [ z ] [Cz | Dzw Dzu ][u] +## [dx/dt] [A | Bw Bu ][w] +## [ z ] = [Cz | Dzw Dzu ][u] ## [ y ] [Cy | Dyw Dyu ] ## @end example ## or similar discrete-time system. ## If necessary, orthogonal transformations @var{qw}, @var{qz} and nonsingular ## transformations @var{ru}, @var{ry} are applied to respective vectors -## @var{w}, @var{z}, @var{u}, @var{y} in order to satisfy DGKF assumptions. +## @var{w}, @var{z}, @var{u}, @var{y} in order to satisfy @acronym{DGKF} assumptions. ## Loop shifting is used if @var{dyu} block is nonzero. ## ## @strong{Inputs} @@ -41,14 +41,14 @@ ## @item ny ## number of measured outputs ## @item tol -## threshhold for 0. Default: 200@var{eps} +## threshold for 0; default: 200*@code{eps}. ## @end table ## @strong{Outputs} ## @table @var ## @item retval ## true(1) if system passes check, false(0) otherwise ## @item dgkf_struct -## data structure of @code{is_dgkf} results. Entries: +## data structure of @command{is_dgkf} results. Entries: ## @table @var ## @item nw ## @itemx nz @@ -84,15 +84,23 @@ ## @end table ## @end table ## @code{is_dgkf} exits with an error if the system is mixed -## discrete/continuous +## discrete/continuous. ## ## @strong{References} ## @table @strong ## @item [1] -## Doyle, Glover, Khargonekar, Francis, "State Space Solutions -## to Standard H2 and Hinf Control Problems," IEEE TAC August 1989 +## Doyle, Glover, Khargonekar, Francis, @cite{State Space Solutions to Standard} +## @iftex +## @tex +## $ { \cal H }_2 $ @cite{and} $ { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## @cite{H-2 and H-infinity} +## @end ifinfo +## @cite{Control Problems}, @acronym{IEEE} @acronym{TAC} August 1989. ## @item [2] -## Maciejowksi, J.M.: "Multivariable feedback design," +## Maciejowksi, J.M., @cite{Multivariable Feedback Design}, Addison-Wesley, 1989. ## @end table ## @end deftypefn
--- a/scripts/control/hinf/wgt1o.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/hinf/wgt1o.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,18 +17,37 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} wgt1o (@var{vl}, @var{vh}, @var{fc}) +## @deftypefn {Function File} {@var{W} =} wgt1o (@var{vl}, @var{vh}, @var{fc}) ## State space description of a first order weighting function. ## -## Weighting function are needed by the H2/H_infinity design procedure. -## These function are part of thye augmented plant P (see hinfdemo -## for an applicattion example). +## Weighting function are needed by the +## @iftex +## @tex +## $ { \cal H }_2 / { \cal H }_\infty $ +## @end tex +## @end iftex +## @ifinfo +## H-2/H-infinity +## @end ifinfo +## design procedure. +## These function are part of the augmented plant @var{P} +## (see @command{hinfdemo} for an application example). ## -## vl = Gain at low frequencies +## @strong{Inputs} +## @table @var +## @item vl +## Gain at low frequencies. +## @item vh +## Gain at high frequencies. +## @item fc +## Corner frequency (in Hz, @strong{not} in rad/sec) +## @end table ## -## vh = Gain at high frequencies -## -## fc = Corner frequency (in Hz, *not* in rad/sec) +## @strong{Output} +## @table @var +## @item W +## Weighting function, given in form of a system data structure. +## @end table ## @end deftypefn ## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
--- a/scripts/control/obsolete/minfo.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/obsolete/minfo.m Wed Sep 22 02:50:36 2004 +0000 @@ -16,18 +16,25 @@ ## 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. +## -*- texinfo -*- +## @deftypefn {Function File} {[@var{systype}, @var{nout}, @var{nin}, @var{ncstates}, @var{ndstates}] =} minfo (@var{inmat}) +## Determines the type of system matrix. @var{inmat} can be a varying, +## a system, a constant, and an empty matrix. ## -## 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 +## @strong{Outputs} +## @table @var +## @item systype +## Can be one of: varying, system, constant, and empty. +## @item nout +## The number of outputs of the system. +## @item nin +## The number of inputs of the system. +## @item ncstates +## The number of continuous states of the system. +## @item ndstates +## The number of discrete states of the system. +## @end table +## @end deftypefn ## Author: R. Bruce Tenison <btenison@eng.auburn.edu> ## Created: July 29, 1994
--- a/scripts/control/obsolete/syschnames.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/obsolete/syschnames.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,7 +18,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} syschnames (@var{sys}, @var{opt}, @var{list}, @var{names}) -## Superseded by @code{syssetsignals} +## Superseded by @command{syssetsignals}. ## @end deftypefn ## Author: John Ingram <ingraje@eng.auburn.edu>
--- a/scripts/control/system/buildssic.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/buildssic.m Wed Sep 22 02:50:36 2004 +0000 @@ -20,20 +20,28 @@ ## @deftypefn {Function File} {} buildssic (@var{clst}, @var{ulst}, @var{olst}, @var{ilst}, @var{s1}, @var{s2}, @var{s3}, @var{s4}, @var{s5}, @var{s6}, @var{s7}, @var{s8}) ## ## Form an arbitrary complex (open or closed loop) system in -## state-space form from several systems. "@code{buildssic}" can -## easily (despite it's cryptic syntax) integrate transfer functions +## state-space form from several systems. @command{buildssic} can +## easily (despite its cryptic syntax) integrate transfer functions ## from a complex block diagram into a single system with one call. ## This function is especially useful for building open loop -## interconnections for H_infinity and H2 designs or for closing -## loops with these controllers. +## interconnections for +## @iftex +## @tex +## $ { \cal H }_\infty $ and $ { \cal H }_2 $ +## @end tex +## @end iftex +## @ifinfo +## H-infinity and H-2 +## @end ifinfo +## designs or for closing loops with these controllers. ## -## Although this function is general purpose, the use of "@code{sysgroup}" -## "@code{sysmult}", "@code{sysconnect}" and the like is recommended for +## Although this function is general purpose, the use of @command{sysgroup} +## @command{sysmult}, @command{sysconnect} and the like is recommended for ## standard operations since they can handle mixed discrete and continuous ## systems and also the names of inputs, outputs, and states. ## ## The parameters consist of 4 lists that describe the connections -## outputs and inputs and up to 8 systems s1-s8. +## outputs and inputs and up to 8 systems @var{s1}--@var{s8}. ## Format of the lists: ## @table @var ## @item clst @@ -42,27 +50,27 @@ ## equal to the sum of all inputs of s1-s8. ## ## Example: -## @code{[1 2 -1; 2 1 0]} ==> new input 1 is old inpout 1 -## + output 2 - output 1, new input 2 is old input 2 +## @code{[1 2 -1; 2 1 0]} means that: new input 1 is old input 1 +## + output 2 - output 1, and new input 2 is old input 2 ## + output 1. The order of rows is arbitrary. ## -## @item ulst -## if not empty the old inputs in vector Ulst will +## @item ulst +## if not empty the old inputs in vector @var{ulst} will ## be appended to the outputs. You need this if you -## want to "pull out" the input of a system. Elements -## are input numbers of s1-s8. +## want to ``pull out'' the input of a system. Elements +## are input numbers of @var{s1}--@var{s8}. ## -## @item olst +## @item olst ## output list, specifiy the outputs of the resulting -## systems. Elements are output numbers of s1-s8. -## The numbers are alowed to be negative and may +## systems. Elements are output numbers of @var{s1}--@var{s8}. +## The numbers are allowed to be negative and may ## appear in any order. An empty matrix means ## all outputs. ## -## @item ilst +## @item ilst ## input list, specifiy the inputs of the resulting -## systems. Elements are input numbers of s1-s8. -## The numbers are alowed to be negative and may +## systems. Elements are input numbers of @var{s1}--@var{s8}. +## The numbers are allowed to be negative and may ## appear in any order. An empty matrix means ## all inputs. ## @end table @@ -82,20 +90,22 @@ ## @end group ## @end example ## -## The closed loop system GW can be optained by +## The closed loop system @var{GW} can be optained by ## @example ## GW = buildssic([1 2; 2 -1], 2, [1 2 3], 2, G, K); ## @end example ## @table @var ## @item clst -## (1. row) connect input 1 (G) with output 2 (K). -## (2. row) connect input 2 (K) with neg. output 1 (G). +## 1st row: connect input 1 (@var{G}) with output 2 (@var{K}). +## +## 2nd row: connect input 2 (@var{K}) with negative output 1 (@var{G}). ## @item ulst -## append input of (2) K to the number of outputs. +## Append input of 2 (@var{K}) to the number of outputs. ## @item olst -## Outputs are output of 1 (G), 2 (K) and appended output 3 (from Ulst). +## Outputs are output of 1 (@var{G}), 2 (@var{K}) and +## appended output 3 (from @var{ulst}). ## @item ilst -## the only input is 2 (K). +## The only input is 2 (@var{K}). ## @end table ## ## Here is a real example: @@ -104,8 +114,8 @@ ## +----+ ## -------------------->| W1 |---> v1 ## z | +----+ -## ----|-------------+ || GW || => min. -## | | vz infty +## ----|-------------+ +## | | ## | +---+ v +----+ ## *--->| G |--->O--*-->| W2 |---> v2 ## | +---+ | +----+ @@ -114,14 +124,33 @@ ## u y ## @end group ## @end example +## @iftex +## @tex +## $$ { \rm min } \Vert GW_{vz} \Vert _\infty $$ +## @end tex +## @end iftex +## @ifinfo +## @example +## min || GW || +## vz infty +## @end example +## @end ifinfo ## -## The closed loop system GW from [z; u]' to [v1; v2; y]' can be -## obtained by (all SISO systems): +## The closed loop system @var{GW} +## @iftex +## @tex +## from $ [z, u]^T $ to $ [v_1, v_2, y]^T $ +## @end tex +## @end iftex +## @ifinfo +## from [z, u]' to [v1, v2, y]' +## @end ifinfo +## can be obtained by (all @acronym{SISO} systems): ## @example ## GW = buildssic([1, 4; 2, 4; 3, 1], 3, [2, 3, 5], ## [3, 4], G, W1, W2, One); ## @end example -## where "One" is a unity gain (auxillary) function with order 0. +## where ``One'' is a unity gain (auxillary) function with order 0. ## (e.g. @code{One = ugain(1);}) ## @end deftypefn
--- a/scripts/control/system/c2d.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/c2d.m Wed Sep 22 02:50:36 2004 +0000 @@ -20,6 +20,31 @@ ## @deftypefn {Function File} {} c2d (@var{sys}, @var{opt}, @var{t}) ## @deftypefnx {Function File} {} c2d (@var{sys}, @var{t}) ## +## Converts the system data structure describing: +## @iftex +## @tex +## $$ \dot x = A_cx + B_cu $$ +## @end tex +## @end iftex +## @ifinfo +## @example +## . +## x = Ac x + Bc u +## @end example +## @end ifinfo +## into a discrete time equivalent model: +## @iftex +## @tex +## $$ x_{n+1} = A_dx_n + B_du_n $$ +## @end tex +## @end iftex +## @ifinfo +## @example +## x[n+1] = Ad x[n] + Bd u[n] +## @end example +## @end ifinfo +## via the matrix exponential or bilinear transform. +## ## @strong{Inputs} ## @table @var ## @item sys @@ -33,38 +58,37 @@ ## use the matrix exponential (default) ## @item "bi" ## use the bilinear transformation -## @end table +## @iftex +## @tex +## $$ s = { 2(z-1) \over T(z+1) } $$ +## @end tex +## @end iftex +## @ifinfo ## @example ## 2(z-1) ## s = ----- ## T(z+1) ## @end example +## @end ifinfo ## FIXME: This option exits with an error if @var{sys} is not purely ## continuous. (The @code{ex} option can handle mixed systems.) -## @item t -## sampling time; required if sys is purely continuous. -## -## If the 2nd argument is not a string, @code{c2d} assumes that -## the 2nd argument is @var{t} and performs appropriate argument checks. ## @item "matched" ## Use the matched pole/zero equivalent transformation (currently only -## works for purely continuous SISO systems). +## works for purely continuous @acronym{SISO} systems). +## @end table +## @item t +## sampling time; required if @var{sys} is purely continuous. +## +## @strong{Note:} if the second argument is not a string, @code{c2d()} +## assumes that the second argument is @var{t} and performs +## appropriate argument checks. ## @end table ## -## @strong{Outputs} -## @var{dsys} discrete time equivalent via zero-order hold, -## sample each @var{t} sec. -## -## converts the system data structure describing -## @example -## . -## x = Ac x + Bc u -## @end example -## into a discrete time equivalent model -## @example -## x[n+1] = Ad x[n] + Bd u[n] -## @end example -## via the matrix exponential or bilinear transform +## @strong{Output} +## @table @var +## @item dsys +## Discrete time equivalent via zero-order hold, sample each @var{t} sec. +## @end table ## ## This function adds the suffix @code{_d} ## to the names of the new discrete states.
--- a/scripts/control/system/d2c.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/d2c.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,8 +19,8 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} d2c (@var{sys}, @var{tol}) ## @deftypefnx {Function File} {} d2c (@var{sys}, @var{opt}) -## Convert discrete (sub)system to a purely continuous system. Sampling -## time used is @code{sysgettsam(@var{sys})} +## Convert a discrete (sub)system into a purely continuous one. +## The sampling time used is @code{sysgettsam(@var{sys})}. ## ## @strong{Inputs} ## @table @var @@ -28,7 +28,7 @@ ## system data structure with discrete components ## @item tol ## Scalar value. -## tolerance for convergence of default @code{"log"} option (see below) +## Tolerance for convergence of default @code{"log"} option (see below) ## @item opt ## conversion option. Choose from: ## @table @code @@ -50,8 +50,11 @@ ## discrete ## @end table ## @end table -## @strong{Outputs} @var{csys} continuous time system (same dimensions and -## signal names as in @var{sys}). +## @strong{Output} +## @table @var +## @item csys +## continuous time system (same dimensions and signal names as in @var{sys}). +## @end table ## @end deftypefn ## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
--- a/scripts/control/system/fir2sys.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/fir2sys.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,21 +18,27 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} fir2sys (@var{num}, @var{tsam}, @var{inname}, @var{outname}) -## construct a system data structure from FIR description +## construct a system data structure from @acronym{FIR} description ## -## @strong{Inputs:} +## @strong{Inputs} ## @table @var ## @item num -## vector of coefficients @math{[c_0 c_1 ... c_n]} -## of the SISO FIR transfer function +## vector of coefficients ## @ifinfo -## -## C(z) = c0 + c1*z^@{-1@} + c2*z^@{-2@} + ... + znz^@{-n@} -## +## [c0, c1, ..., cn] ## @end ifinfo ## @iftex ## @tex -## $$C(z) = c0 + c1*z^{-1} + c2*z^{-2} + ... + znz^{-n}$$ +## $ [c_0, c_1, \ldots, c_n ]$ +## @end tex +## @end iftex +## of the @acronym{SISO} @acronym{FIR} transfer function +## @ifinfo +## C(z) = c0 + c1*z^(-1) + c2*z^(-2) + ... + cn*z^(-n) +## @end ifinfo +## @iftex +## @tex +## $$ C(z) = c_0 + c_1z^{-1} + c_2z^{-2} + \ldots + c_nz^{-n} $$ ## @end tex ## @end iftex ## @@ -46,12 +52,16 @@ ## name of output signal; may be a string or a list with a single entry. ## @end table ## -## @strong{Outputs} -## @var{sys} (system data structure) +## @strong{Output} +## @table @var +## @item sys +## system data structure +## @end table ## ## @strong{Example} ## @example -## octave:1> sys = fir2sys([1 -1 2 4],0.342,"A/D input","filter output"); +## octave:1> sys = fir2sys([1 -1 2 4],0.342,\ +## > "A/D input","filter output"); ## octave:2> sysout(sys) ## Input(s) ## 1: A/D input
--- a/scripts/control/system/is_abcd.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/is_abcd.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,11 +17,11 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} is_abcd (@var{a}, @var{b}, @var{c}, @var{d}) +## @deftypefn {Function File} {@var{retval} =} is_abcd (@var{a}, @var{b}, @var{c}, @var{d}) ## Returns @var{retval} = 1 if the dimensions of @var{a}, @var{b}, ## @var{c}, @var{d} are compatible, otherwise @var{retval} = 0 with an ## appropriate diagnostic message printed to the screen. The matrices -## b, c, or d may be omitted. +## @var{b}, @var{c}, or @var{d} may be omitted. ## @end deftypefn ## @seealso{abcddim}
--- a/scripts/control/system/is_controllable.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/is_controllable.m Wed Sep 22 02:50:36 2004 +0000 @@ -38,8 +38,8 @@ ## Logical flag; returns true (1) if the system @var{sys} or the ## pair (@var{a}, @var{b}) is controllable, whichever was passed as input ## arguments. -## @item U -## U is an orthogonal basis of the controllable subspace. +## @item u +## @var{u} is an orthogonal basis of the controllable subspace. ## @end table ## ## @strong{Method}
--- a/scripts/control/system/is_detectable.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/is_detectable.m Wed Sep 22 02:50:36 2004 +0000 @@ -23,9 +23,9 @@ ## ## Returns 1 if the system @var{a} or the pair (@var{a}, @var{c}) is ## detectable, 0 if not, and -1 if the system has unobservable modes at the -## imaginary axis (unit circle for discrete-time systems) +## imaginary axis (unit circle for discrete-time systems). ## -## @strong{See} @code{is_stabilizable} for detailed description of +## @strong{See} @command{is_stabilizable} for detailed description of ## arguments and computational method. ## ##
--- a/scripts/control/system/is_digital.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/is_digital.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,19 +17,28 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} is_digital (@var{sys}) -## Return nonzero if system is digital; -## inputs: -## sys: system data structure -## eflg: 0 [default] exit with an error if system is mixed (continuous and -## discrete components) -## : 1 print a warning if system is mixed (continuous and discrete) -## : 2 silent operation -## outputs: -## DIGITAL: 0: system is purely continuous -## : 1: system is purely discrete -## : -1: system is mixed continuous and discrete -## Exits with an error of sys is a mixed (continuous and discrete) system +## @deftypefn {Function File} {@var{digital} =} is_digital (@var{sys}, @var{eflg}) +## Return nonzero if system is digital. +## +## @strong{Inputs} +## @table @var +## @item sys +## System data structure. +## @item eflg +## When equal to 0 (default value), exits with an error if the system +## is mixed (continuous and discrete components); when equal to 1, print +## a warning if the system is mixed (continuous and discrete); when equal +## to 2, operate silently. +## @end table +## +## @strong{Output} +## @table @var +## @item digital +## When equal to 0, the system is purely continuous; when equal to 1, the +## system is purely discrete; when equal to -1, the system is mixed continuous +## and discrete. +## @end table +## Exits with an error if @var{sys} is a mixed (continuous and discrete) system. ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
--- a/scripts/control/system/is_observable.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/is_observable.m Wed Sep 22 02:50:36 2004 +0000 @@ -21,12 +21,12 @@ ## @deftypefnx {Function File} {[@var{retval}, @var{u}] =} is_observable (@var{sys}, @var{tol}) ## Logical check for system observability. ## -## Default: tol = 10*norm(a,'fro')*eps +## Default: tol = @code{tol = 10*norm(a,'fro')*eps} ## ## Returns 1 if the system @var{sys} or the pair (@var{a}, @var{c}) is ## observable, 0 if not. ## -## @strong{See} @code{is_controllable} for detailed description of arguments +## See @command{is_controllable} for detailed description of arguments ## and default values. ## @end deftypefn ## @seealso{size, rows, columns, length, ismatrix, isscalar, and isvector}
--- a/scripts/control/system/is_sample.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/is_sample.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,7 +19,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} is_sample (@var{ts}) ## Return true if @var{ts} is a valid sampling time -## (real,scalar, > 0) +## (real, scalar, > 0). ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
--- a/scripts/control/system/is_siso.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/is_siso.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,7 +18,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} is_siso (@var{sys}) -## return nonzero if the system data structure +## Returns nonzero if the system data structure ## @var{sys} is single-input, single-output. ## @end deftypefn
--- a/scripts/control/system/is_stabilizable.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/is_stabilizable.m Wed Sep 22 02:50:36 2004 +0000 @@ -1,3 +1,5 @@ +## Copyright (C) 1998 Kai P. Mueller. +## ## This file is part of Octave. ## ## Octave is free software; you can redistribute it and/or modify it @@ -19,15 +21,22 @@ ## @deftypefnx {Function File} {@var{retval} =} is_stabilizable (@var{a}, @var{b}, @var{tol}, @var{dflg}) ## Logical check for system stabilizability (i.e., all unstable modes are controllable). ## Returns 1 if the system is stabilizable, 0 if the the system is not stabilizable, -1 -## if the system has non stabilizable modes at the imaginary axis (unit circle for discrete-time -## systems. +## if the system has non stabilizable modes at the imaginary axis (unit circle for +## discrete-time systems. ## -## Test for stabilizability is performed via Hautus Lemma. If @var{dflg}!=0 assume that -## discrete-time matrices (a,b) are supplied. -## - -## See also: size, rows, columns, length, ismatrix, isscalar, isvector -## is_observable, is_stabilizable, is_detectable +## Test for stabilizability is performed via Hautus Lemma. If +## @iftex +## @tex +## @var{dflg}$\neq$0 +## @end tex +## @end iftex +## @ifinfo +## @var{dflg}!=0 +## @end ifinfo +## assume that discrete-time matrices (a,b) are supplied. +## @end deftypefn +## @seealso{size, rows, columns, length, ismatrix, isscalar, isvector +## is_observable, is_stabilizable, is_detectable} ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu> ## Created: August 1993
--- a/scripts/control/system/is_stable.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/is_stable.m Wed Sep 22 02:50:36 2004 +0000 @@ -25,15 +25,15 @@ ## @strong{Inputs} ## @table @var ## @item tol -## is a roundoff paramter, set to 200*@var{eps} if omitted. +## is a roundoff parameter, set to 200*@code{eps} if omitted. ## @item dflg ## Digital system flag (not required for system data structure): ## @table @code ## @item @var{dflg} != 0 -## stable if eig(a) in unit circle +## stable if eig(a) is in the unit circle ## ## @item @var{dflg} == 0 -## stable if eig(a) in open LHP (default) +## stable if eig(a) is in the open LHP (default) ## @end table ## @end table ## @end deftypefn
--- a/scripts/control/system/jet707.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/jet707.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,12 +17,23 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} jet707 () -## Creates linearized state space model of a Boeing 707-321 aircraft -## at v=80m/s. (M = 0.26, Ga0 = -3 deg, alpha0 = 4 deg, kappa = 50 deg) -## System inputs: (1) thrust and (2) elevator angle -## System outputs: (1) airspeed and (2) pitch angle -## Ref: R. Brockhaus: Flugregelung (Flight Control), Springer, 1994 +## @deftypefn {Function File} {@var{sys} =} jet707 () +## Creates a linearized state-space model of a Boeing 707-321 aircraft +## at @var{v}=80 m/s +## @iftex +## @tex +## ($M = 0.26$, $G_{a0} = -3^{\circ}$, ${\alpha}_0 = 4^{\circ}$, ${\kappa}= 50^{\circ}$). +## @end tex +## @end iftex +## @ifinfo +## (@var{M} = 0.26, @var{Ga0} = -3 deg, @var{alpha0} = 4 deg, @var{kappa} = 50 deg). +## @end ifinfo +## +## System inputs: (1) thrust and (2) elevator angle. +## +## System outputs: (1) airspeed and (2) pitch angle. +## +## @strong{Reference}: R. Brockhaus: @cite{Flugregelung} (Flight Control), Springer, 1994. ## @end deftypefn ## @seealso{ord2}
--- a/scripts/control/system/moddemo.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/moddemo.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,7 +18,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} moddemo (@var{inputs}) -## Octave Controls toolbox demo: Model Manipulations demo +## Octave Control toolbox demo: Model Manipulations demo. ## @end deftypefn ## Author: David Clem
--- a/scripts/control/system/ord2.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/ord2.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,6 +19,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} ord2 (@var{nfreq}, @var{damp}, @var{gain}) ## Creates a continuous 2nd order system with parameters: +## ## @strong{Inputs} ## @table @var ## @item nfreq @@ -30,17 +31,30 @@ ## This is steady state value only for damp > 0. ## gain is assumed to be 1.0 if ommitted. ## @end table -## @strong{Outputs} -## @var{outsys} -## system data structure has representation with @math{w = 2 * pi * nfreq}: +## +## @strong{Output} +## @table @var +## @item outsys +## system data structure has representation with +## @ifinfo +## @math{w = 2 * pi * nfreq}: +## @end ifinfo +## @iftex +## @tex +## $ w = 2 \pi f $: +## @end tex +## @end iftex ## @example +## @group ## / \ ## | / -2w*damp -w \ / w \ | ## G = | | |, | |, [ 0 gain ], 0 | ## | \ w 0 / \ 0 / | ## \ / +## @end group ## @end example -## @strong{See also} @code{jet707} (MIMO example, Boeing 707-321 +## @end table +## @strong{See also} @command{jet707} (@acronym{MIMO} example, Boeing 707-321 ## aircraft model) ## @end deftypefn
--- a/scripts/control/system/parallel.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/parallel.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,18 +17,22 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} parallel (@var{asys}, @var{bsys}) +## @deftypefn {Function File} {@var{ksys} =} parallel (@var{asys}, @var{bsys}) ## Forms the parallel connection of two systems. ## -## ____________________ -## | ________ | +## @example +## @group +## -------------------- +## | -------- | ## u ----->|----> | asys |--->|----> y1 ## | | -------- | -## | | ________ | +## | | -------- | ## |--->|----> | bsys |--->|----> y2 ## | -------- | ## -------------------- ## ksys +## @end group +## @end example ## @end deftypefn ## Author: David Clem
--- a/scripts/control/system/ss.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/ss.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,9 +17,9 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} ss (@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}, @var{n}, @var{nz}, @var{stname}, @var{inname}, @var{outname}, @var{outlist}) +## @deftypefn {Function File} {@var{outsys} =} ss (@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}, @var{n}, @var{nz}, @var{stname}, @var{inname}, @var{outname}, @var{outlist}) ## Create system structure from state-space data. May be continous, -## discrete, or mixed (sampeled-data) +## discrete, or mixed (sampled data) ## ## @strong{Inputs} ## @table @var @@ -75,8 +75,11 @@ ## @code{sys2ss} returns a vector @var{yd} where ## @var{yd}(@var{outlist}) = 1; all other entries of @var{yd} are 0. ## -## @strong{Outputs} -## @var{outsys} = system data structure +## @strong{Output} +## @table @var +## @item outsys +## system data structure +## @end table ## ## @strong{System partitioning} ##
--- a/scripts/control/system/ss2sys.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/ss2sys.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,7 +19,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} ss (@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}, @var{n}, @var{nz}, @var{stname}, @var{inname}, @var{outname}, @var{outlist}) ## Create system structure from state-space data. May be continous, -## discrete, or mixed (sampeled-data) +## discrete, or mixed (sampled data) ## ## @strong{Inputs} ## @table @var
--- a/scripts/control/system/ss2tf.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/ss2tf.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,23 +17,39 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} ss2tf (@var{inputs}) -## @format -## [num,den] = ss2tf(a,b,c,d) +## @deftypefn {Function File} {[@var{num}, @var{den}] =} ss2tf (@var{a}, @var{b}, @var{c}, @var{d}) ## Conversion from tranfer function to state-space. -## The state space system +## The state space system: +## @iftex +## @tex +## $$ \dot x = Ax + Bu $$ +## $$ y = Cx + Du $$ +## @end tex +## @end iftex +## @ifinfo +## @example ## . ## x = Ax + Bu ## y = Cx + Du +## @end example +## @end ifinfo ## -## is converted to a transfer function +## is converted to a transfer function: +## @iftex +## @tex +## $$ G(s) = { { \rm num }(s) \over { \rm den }(s) } $$ +## @end tex +## @end iftex +## @ifinfo +## @example ## ## num(s) ## G(s)=------- ## den(s) +## @end example +## @end ifinfo ## -## used internally in system data structure format manipulations -## @end format +## used internally in system data structure format manipulations. ## @end deftypefn ## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
--- a/scripts/control/system/ss2zp.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/ss2zp.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,15 +17,11 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} ss2zp (@var{inputs}) -## @format -## Converts a state space representation to a set of poles and zeros. +## @deftypefn {Function File} {[@var{pol}, @var{zer}, @var{k}] =} ss2zp (@var{a}, @var{b}, @var{c}, @var{d}) +## Converts a state space representation to a set of poles and zeros; +## @var{k} is a gain associated with the zeros. ## -## [pol,zer,k] = ss2zp(a,b,c,d) returns the poles and zeros of the state space -## system (a,b,c,d). K is a gain associated with the zeros. -## -## used internally in system data structure format manipulations -## @end format +## Used internally in system data structure format manipulations. ## @end deftypefn ## Author: David Clem
--- a/scripts/control/system/starp.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/starp.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,10 +18,10 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} starp (@var{P}, @var{K}, @var{ny}, @var{nu}) -## @format ## ## Redheffer star product or upper/lower LFT, respectively. -## +## @example +## @group ## ## +-------+ ## --------->| |---------> @@ -37,14 +37,14 @@ ## | K | ## --------->| |---------> ## +-------+ +## @end group +## @end example +## If @var{ny} and @var{nu} ``consume'' all inputs and outputs of +## @var{K} then the result is a lower fractional transformation. +## If @var{ny} and @var{nu} ``consume'' all inputs and outputs of +## @var{P} then the result is an upper fractional transformation. ## -## If ny and nu "consume" all inputs and outputs of K then the result -## is a lower fractional transformation. If ny and nu "consume" all -## inputs and outputs of P then the result is an upper fractional -## transformation. -## -## ny and/or nu may be negative (= negative feedback) -## @end format +## @var{ny} and/or @var{nu} may be negative (i.e. negative feedback). ## @end deftypefn ## Author: Kai P. Mueller <mueller@ifr.ing.tu-bs.de>
--- a/scripts/control/system/sys2fir.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sys2fir.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,7 +19,7 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{c}, @var{tsam}, @var{input}, @var{output}] =} sys2fir (@var{sys}) ## -## Extract FIR data from system data structure; see fir2sys for +## Extract @acronym{FIR} data from system data structure; see @command{fir2sys} for ## parameter descriptions. ## @end deftypefn ## @seealso{fir2sys}
--- a/scripts/control/system/sys2ss.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sys2ss.m Wed Sep 22 02:50:36 2004 +0000 @@ -20,8 +20,11 @@ ## @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}, @var{tsam}, @var{n}, @var{nz}, @var{stname}, @var{inname}, @var{outname}, @var{yd}] =} sys2ss (@var{sys}) ## Extract state space representation from system data structure. ## -## @strong{Inputs} -## @var{sys} system data structure +## @strong{Input} +## @table @var +## @item sys +## System data structure. +## @end table ## ## @strong{Outputs} ## @table @var @@ -29,29 +32,29 @@ ## @itemx b ## @itemx c ## @itemx d -## state space matrices for sys +## State space matrices for @var{sys}. ## ## @item tsam -## sampling time of sys (0 if continuous) +## Sampling time of @var{sys} (0 if continuous). ## ## @item n ## @itemx nz -## number of continuous, discrete states (discrete states come -## last in state vector @var{x}) +## Number of continuous, discrete states (discrete states come +## last in state vector @var{x}). ## ## @item stname ## @itemx inname ## @itemx outname -## signal names (lists of strings); names of states, -## inputs, and outputs, respectively +## Signal names (lists of strings); names of states, +## inputs, and outputs, respectively. ## ## @item yd -## binary vector; @var{yd}(@var{ii}) is 1 if output @var{y}(@var{ii})$ -## is discrete (sampled); otherwise @var{yd}(@var{ii}) 0. +## Binary vector; @var{yd}(@var{ii}) is 1 if output @var{y}(@var{ii}) +## is discrete (sampled); otherwise @var{yd}(@var{ii}) is 0. ## ## @end table ## A warning massage is printed if the system is a mixed -## continuous and discrete system +## continuous and discrete system. ## ## @strong{Example} ## @example
--- a/scripts/control/system/sys2tf.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sys2tf.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,9 +18,9 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{num}, @var{den}, @var{tsam}, @var{inname}, @var{outname}] =} sys2tf (@var{sys}) -## Extract transfer function data from a system data structure +## Extract transfer function data from a system data structure. ## -## See tf for parameter descriptions. +## See @command{tf} for parameter descriptions. ## ## @strong{Example} ## @example
--- a/scripts/control/system/sys2zp.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sys2zp.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,9 +19,9 @@ ## -*- texinfo -*- ##@deftypefn {Function File} {[@var{zer}, @var{pol}, @var{k}, @var{tsam}, @var{inname}, @var{outname}] =} sys2zp (@var{sys}) ## Extract zero/pole/leading coefficient information from a system data -## structure +## structure. ## -## See zp for parameter descriptions. +## See @command{zp} for parameter descriptions. ## ## @strong{Example} ## @example
--- a/scripts/control/system/sysappend.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysappend.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,12 +17,12 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysappend (@var{sys}, @var{b}, @var{c}, @var{d}, @var{outname}, @var{inname}, @var{yd}) +## @deftypefn {Function File} {@var{sys} =} sysappend (@var{syst}, @var{b}, @var{c}, @var{d}, @var{outname}, @var{inname}, @var{yd}) ## appends new inputs and/or outputs to a system ## ## @strong{Inputs} ## @table @var -## @item sys +## @item syst ## system data structure ## ## @item b @@ -45,14 +45,16 @@ ## @math{yd(ii)=1} indicates a discrete output. ## @end table ## -## @strong{Outputs} @var{sys} +## @strong{Outputs} +## @table @var +## @item sys ## @example ## @group -## sys.b := [sys.b , b] -## sys.c := [sys.c ] +## sys.b := [syst.b , b] +## sys.c := [syst.c ] ## [ c ] -## sys.d := [sys.d | D12 ] -## [D21 | D22 ] +## sys.d := [syst.d | D12 ] +## [ D21 | D22 ] ## @end group ## @end example ## where @math{D12}, @math{D21}, and @math{D22} are the appropriate dimensioned @@ -63,13 +65,15 @@ ## the new inputs and outputs are be assigned default names. ## @item @var{yd} is a binary vector of length rows(c) that indicates ## continuous/sampled outputs. Default value for @var{yd} is: -## -## @item @var{sys} = continuous or mixed +## @itemize @minus +## @item @var{sys} is continuous or mixed ## @var{yd} = @code{zeros(1,rows(c))} ## -## @item @var{sys} = discrete +## @item @var{sys} is discrete ## @var{yd} = @code{ones(1,rows(c))} ## @end itemize +## @end itemize +## @end table ## @end deftypefn ## Author: John Ingram <ingraje@eng.auburn.edu>
--- a/scripts/control/system/sysconnect.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysconnect.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,45 +17,49 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysconnect (@var{sys}, @var{out_idx}, @var{in_idx}, @var{order}, @var{tol}) +## @deftypefn {Function File} {@var{clsys} =} sysconnect (@var{sys}, @var{out_idx}, @var{in_idx}, @var{order}, @var{tol}) ## Close the loop from specified outputs to respective specified inputs ## ## @strong{Inputs} ## @table @var ## @item sys -## system data structure +## System data structure. ## @item out_idx ## @itemx in_idx -## names or indices of signals to connect (see @code{sysidx}). +## Names or indices of signals to connect (see @code{sysidx}). ## The output specified by @math{out_idx(ii)} is connected to the input ## specified by @math{in_idx(ii)}. ## @item order ## logical flag (default = 0) ## @table @code ## @item 0 -## leave inputs and outputs in their original order +## Leave inputs and outputs in their original order. ## @item 1 -## permute inputs and outputs to the order shown in the diagram below +## Permute inputs and outputs to the order shown in the diagram below. ## @end table ## @item tol -## tolerance for singularities in algebraic loops default: 200@var{eps} +## Tolerance for singularities in algebraic loops, default: 200@code{eps}. ## @end table ## ## @strong{Outputs} -## @var{sys}: resulting closed loop system. +## @table @var +## @item clsys +## Resulting closed loop system. +## @end table ## ## @strong{Method} +## ## @code{sysconnect} internally permutes selected inputs, outputs as shown ## below, closes the loop, and then permutes inputs and outputs back to their ## original order ## @example ## @group -## ____________________ +## -------------------- ## u_1 ----->| |----> y_1 ## | sys | ## old u_2 | | ## u_2* ---->(+)--->| |----->y_2 -## (in_idx) ^ -------------------| | (out_idx) +## (in_idx) ^ -------------------- | (out_idx) ## | | ## ------------------------------- ## @end group
--- a/scripts/control/system/syscont.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/syscont.m Wed Sep 22 02:50:36 2004 +0000 @@ -20,8 +20,11 @@ ## @deftypefn {Function File} {[@var{csys}, @var{acd}, @var{ccd}] =} syscont (@var{sys}) ## Extract the purely continuous subsystem of an input system. ## -## @strong{Inputs} -## @var{sys} is a system data structure +## @strong{Input} +## @table @var +## @item sys +## system data structure. +## @end table ## ## @strong{Outputs} ## @table @var
--- a/scripts/control/system/sysdisc.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysdisc.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,17 +19,20 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{dsys}, @var{adc}, @var{cdc}] =} sysdisc (@var{sys}) ## -## @strong{Inputs} -## @var{sys} = system data structure +## @strong{Input} +## @table @var +## @item sys +## System data structure. +## @end table ## ## @strong{Outputs} ## @table @var ## @item dsys -## purely discrete portion of sys (returned empty if there is -## no purely discrete path from inputs to outputs) +## Purely discrete portion of sys (returned empty if there is +## no purely discrete path from inputs to outputs). ## @item adc ## @itemx cdc -## connections from continuous states to discrete states and discrete +## Connections from continuous states to discrete states and discrete. ## outputs, respectively. ## @end table ## @end deftypefn
--- a/scripts/control/system/sysdup.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysdup.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysdup (@var{asys}, @var{out_idx}, @var{in_idx}) +## @deftypefn {Function File} {@var{retsys} =} sysdup (@var{asys}, @var{out_idx}, @var{in_idx}) ## Duplicate specified input/output connections of a system ## ## @strong{Inputs} @@ -30,23 +30,26 @@ ## duplicates are made of @code{y(out_idx(ii))} and @code{u(in_idx(ii))}. ## @end table ## -## @strong{Outputs} -## @var{retsys}: resulting closed loop system: +## @strong{Output} +## @table @var +## @item retsys +## Resulting closed loop system: ## duplicated i/o names are appended with a @code{"+"} suffix. -## +## @end table ## ## @strong{Method} +## ## @code{sysdup} creates copies of selected inputs and outputs as -## shown below. u1/y1 is the set of original inputs/outputs, and -## u2,y2 is the set of duplicated inputs/outputs in the order specified -## in @var{in_idx}, @var{out_idx}, respectively +## shown below. @var{u1}, @var{y1} is the set of original inputs/outputs, and +## @var{u2}, @var{y2} is the set of duplicated inputs/outputs in the order +## specified in @var{in_idx}, @var{out_idx}, respectively ## @example ## @group ## ____________________ ## u1 ----->| |----> y1 ## | asys | ## u2 ------>| |----->y2 -## (in_idx) -------------------| (out_idx) +## (in_idx) -------------------- (out_idx) ## @end group ## @end example ## @end deftypefn
--- a/scripts/control/system/sysgetsignals.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysgetsignals.m Wed Sep 22 02:50:36 2004 +0000 @@ -58,28 +58,28 @@ ## ## @strong{Outputs} ## @table @bullet -## @item If @var{sigid} is not specified +## @item If @var{sigid} is not specified: ## @table @var ## @item stname ## @itemx inname ## @itemx outname ## signal names (cell array of strings); names of states, -## inputs, and outputs, respectively +## inputs, and outputs, respectively. ## @item yd ## binary vector; @var{yd}(@var{ii}) is nonzero if output @var{ii} is ## discrete. ## @end table ## -## @item If @var{sigid} is specified but @var{signum} is not specified, then +## @item If @var{sigid} is specified but @var{signum} is not specified: ## @table @code ## @item sigid="in" -## @var{siglist} is set to the cell array of input names +## @var{siglist} is set to the cell array of input names. ## ## @item sigid="out" -## @var{siglist} is set to the cell array of output names +## @var{siglist} is set to the cell array of output names. ## ## @item sigid="st" -## @var{siglist} is set to the cell array of state names +## @var{siglist} is set to the cell array of state names. ## ## stage signals ## @item sigid="yd" @@ -89,9 +89,9 @@ ## ## @end table ## -## @item if the first three input arguments are specified, then @var{signame} is -## a cell array of the specified signal names (@var{sigid} is @code{"in"}, -## @code{"out"}, or @code{"st"}), or else the logical flag +## @item If the first three input arguments are specified: +## @var{signame} is a cell array of the specified signal names (@var{sigid} is +## @code{"in"}, @code{"out"}, or @code{"st"}), or else the logical flag ## indicating whether output(s) @var{signum} is(are) discrete (@var{sigval}=1) ## or continuous (@var{sigval}=0). ## @end table @@ -99,7 +99,8 @@ ## @strong{Examples} (From @code{sysrepdemo}) ## @example ## octave> sys=ss(rand(4),rand(4,2),rand(3,4)); -## octave> [Ast,Ain,Aout,Ayd] = sysgetsignals(sys) i # get all signal names +## octave># get all signal names +## octave> [Ast,Ain,Aout,Ayd] = sysgetsignals(sys) ## Ast = ## ( ## [1] = x_1 @@ -121,18 +122,21 @@ ## Ayd = ## ## 0 0 0 -## octave> Ain = sysgetsignals(sys,"in") # get only input signal names +## octave> # get only input signal names: +## octave> Ain = sysgetsignals(sys,"in") ## Ain = ## ( ## [1] = u_1 ## [2] = u_2 ## ) -## octave> Aout = sysgetsignals(sys,"out",2) # get name of output 2 (in cell array) +## octave> # get name of output 2 (in cell array): +## octave> Aout = sysgetsignals(sys,"out",2) ## Aout = ## ( ## [1] = y_2 ## ) -## octave> Aout = sysgetsignals(sys,"out",2,1) # get name of output 2 (as string) +## octave> # get name of output 2 (as string): +## octave> Aout = sysgetsignals(sys,"out",2,1) ## Aout = y_2 ## @end example ## @end deftypefn
--- a/scripts/control/system/sysgettype.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysgettype.m Wed Sep 22 02:50:36 2004 +0000 @@ -20,15 +20,20 @@ ## @deftypefn {Function File} {} sysgettype (@var{sys}) ## return the initial system type of the system ## -## @strong{Inputs} -## @var{sys}: system data structure +## @strong{Input} +## @table @var +## @item sys +## System data structure. +## @end table ## -## @strong{Outputs} -## @var{systype}: string indicating how the structure was initially -## constructed: -## values: @code{"ss"}, @code{"zp"}, or @code{"tf"} +## @strong{Output} +## @table @var +## @item systype +## String indicating how the structure was initially +## constructed. Values: @code{"ss"}, @code{"zp"}, or @code{"tf"}. +## @end table ## -## FIR initialized systems return @code{systype="tf"}. +## @acronym{FIR} initialized systems return @code{systype="tf"}. ## @end deftypefn function systype = sysgettype (sys)
--- a/scripts/control/system/sysgroup.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysgroup.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,14 +17,21 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysgroup (@var{asys}, @var{bsys}) -## Combines two systems into a single system +## @deftypefn {Function File} {@var{sys} =} sysgroup (@var{asys}, @var{bsys}) +## Combines two systems into a single system. ## ## @strong{Inputs} -## @var{asys}, @var{bsys}: system data structures +## @table @var +## @item asys +## @itemx bsys +## System data structures. +## @end table ## -## @strong{Outputs} +## @strong{Output} +## @table @var +## @item sys ## @math{sys = @r{block diag}(asys,bsys)} +## @end table ## @example ## @group ## __________________ @@ -39,8 +46,7 @@ ## @end group ## @end example ## The function also rearranges the internal state-space realization of @var{sys} -## so that the -## continuous states come first and the discrete states come last. +## so that the continuous states come first and the discrete states come last. ## If there are duplicate names, the second name has a unique suffix appended ## on to the end of the name. ## @end deftypefn
--- a/scripts/control/system/sysmin.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysmin.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,20 +18,32 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{retsys}, @var{nc}, @var{no}] =} sysmin (@var{sys}, @var{flg}) -## return a minimal (or reduced order) system -## inputs: -## sys: system data structure -## flg: 0 [default] return minimal system; state names lost -## : 1 return system with physical states removed that -## are either uncontrollable or unobservable -## (cannot reduce further without discarding physical -## meaning of states) -## outputs: -## retsys: returned system -## nc: number of controllable states in the returned system -## no: number of observable states in the returned system -## cflg: is_controllable(retsys) -## oflg: is_observable(retsys) +## Returns a minimal (or reduced order) system +## +## @strong{Inputs} +## @table @var +## @item sys +## System data structure +## @item flg +## When equal to 0 (default value), returns minimal system, +## in which state names are lost; when equal to 1, returns system +## with physical states removed that are either uncontrollable or +## unobservable (cannot reduce further without discarding physical +## meaning of states). +## @end table +## @strong{Outputs} +## @table @var +## @item retsys +## Returned system. +## @item nc +## Number of controllable states in the returned system. +## @item no +## Number of observable states in the returned system. +## @item cflg +## @code{is_controllable(retsys)}. +## @item oflg +## @code{is_observable(retsys)}. +## @end table ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
--- a/scripts/control/system/sysmult.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysmult.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,18 +17,18 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysmult (@var{asys}, @var{bsys}) +## @deftypefn {Function File} {@var{sys} =} sysmult (@var{Asys}, @var{Bsys}) ## Compute @math{sys = Asys*Bsys} (series connection): ## @example ## @group ## u ---------- ---------- -## --->| bsys |---->| asys |---> +## --->| Bsys |---->| Asys |---> ## ---------- ---------- ## @end group ## @end example -## A warning occurs if there is direct feed-through -## from an input of Bsys or a continuous state of @var{bsys} through a -## discrete output of Bsys to a continuous state or output in @var{asys} +## A warning occurs if there is direct feed-through from an input +## or a continuous state of @var{Bsys}, through a discrete output +## of @var{Bsys}, to a continuous state or output in @var{Asys} ## (system data structure does not recognize discrete inputs). ## @end deftypefn
--- a/scripts/control/system/sysprune.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysprune.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,7 +17,7 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysprune (@var{asys}, @var{out_idx}, @var{in_idx}) +## @deftypefn {Function File} {@var{retsys} =} sysprune (@var{asys}, @var{out_idx}, @var{in_idx}) ## Extract specified inputs/outputs from a system ## ## @strong{Inputs} @@ -26,9 +26,8 @@ ## system data structure ## @item out_idx ## @itemx in_idx -## ## Indices or signal names of the outputs and inputs to be kept in the returned -## system; remaining connections are "pruned" off. +## system; remaining connections are ``pruned'' off. ## May select as [] (empty matrix) to specify all outputs/inputs. ## ## @example @@ -38,8 +37,11 @@ ## ## @end table ## -## @strong{Outputs} -## @var{retsys}: resulting system +## @strong{Output} +## @table @var +## @item retsys +## Resulting system. +## @end table ## @example ## @group ## ____________________
--- a/scripts/control/system/sysreorder.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysreorder.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,14 +17,22 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysreorder (@var{vlen}, @var{list}) +## @deftypefn {Function File} {@var{pv} =} sysreorder (@var{vlen}, @var{list}) ## ## @strong{Inputs} -## @var{vlen}=vector length, @var{list}= a subset of @code{[1:vlen]}, +## @table @var +## @item vlen +## Vector length. +## @item list +## A subset of @code{[1:vlen]}. +## @end table ## -## @strong{Outputs} -## @var{pv}: a permutation vector to order elements of @code{[1:vlen]} in +## @strong{Output} +## @table @var +## @item pv +## A permutation vector to order elements of @code{[1:vlen]} in ## @code{list} to the end of a vector. +## @end table ## ## Used internally by @code{sysconnect} to permute vector elements to their ## desired locations.
--- a/scripts/control/system/sysscale.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysscale.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,20 +17,31 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sysscale (@var{sys}, @var{outscale}, @var{inscale}, @var{outname}, @var{inname}) +## @deftypefn {Function File} {@var{retsys} =} sysscale (@var{sys}, @var{outscale}, @var{inscale}, @var{outname}, @var{inname}) ## scale inputs/outputs of a system. ## ## @strong{Inputs} -## sys: structured system -## outscale, inscale: constant matrices of appropriate dimension +## @table @var +## @item sys +## Structured system. +## @item outscale +## @itemx inscale +## Constant matrices of appropriate dimension. +## @item outname +## @itemx inname +## Lists of strings with the names of respectively outputs and inputs. +## @end table ## -## @strong{Outputs} -## @var{sys}: resulting open loop system: +## @strong{Output} +## @table @var +## @item retsys +## resulting open loop system: ## @example ## ----------- ------- ----------- ## u --->| inscale |--->| sys |--->| outscale |---> y ## ----------- ------- ----------- ## @end example +## @end table ## If the input names and output names (each a list of strings) ## are not given and the scaling matrices ## are not square, then default names will be given to the inputs and/or
--- a/scripts/control/system/syssetsignals.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/syssetsignals.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,29 +19,30 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} syssetsignals (@var{sys}, @var{opt}, @var{names}, @var{sig_idx}) ## change the names of selected inputs, outputs and states. +## ## @strong{Inputs} ## @table @var ## @item sys -## system data structure +## System data structure. ## ## @item opt -## change default name (output) +## Change default name (output). ## ## @table @code ## @item "out" -## change selected output names +## Change selected output names. ## @item "in" -## change selected input names +## Change selected input names. ## @item "st" -## change selected state names +## Change selected state names. ## @item "yd" -## change selected outputs from discrete to continuous or +## Change selected outputs from discrete to continuous or ## from continuous to discrete. ## @end table ## ## @item names ## @table @code -## @item opt = "out", "in", or "st" +## @item opt = "out", "in", "st" ## string or string array containing desired signal names or values. ## @item opt = "yd" ## To desired output continuous/discrete flag. @@ -53,9 +54,13 @@ ## ## Default: replace entire cell array of names/entire yd vector. ## @end table +## ## @strong{Outputs} -## @var{retsys=sys} with appropriate signal names changed -## (or yd values, where appropriate) +## @table @var +## @item retsys +## @var{sys} with appropriate signal names changed +## (or @var{yd} values, where appropriate). +## @end table ## ## @strong{Example} ## @example
--- a/scripts/control/system/syssub.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/syssub.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,22 +17,24 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} syssub (@var{gsys}, @var{hsys}) +## @deftypefn {Function File} {@var{sys} =} syssub (@var{Gsys}, @var{Hsys}) ## Return @math{sys = Gsys - Hsys}. ## -## Method: @var{gsys} and @var{hsys} are connected in parallel +## @strong{Method} +## +## @var{Gsys} and @var{Hsys} are connected in parallel. ## The input vector is connected to both systems; the outputs are -## subtracted. Returned system names are those of @var{gsys}. +## subtracted. Returned system names are those of @var{Gsys}. ## @example ## @group ## +--------+ -## +--->| gsys |---+ +## +--->| Gsys |---+ ## | +--------+ | ## | +| ## u --+ (_)--> y ## | -| ## | +--------+ | -## +--->| hsys |---+ +## +--->| Hsys |---+ ## +--------+ ## @end group ## @end example
--- a/scripts/control/system/sysupdate.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/sysupdate.m Wed Sep 22 02:50:36 2004 +0000 @@ -39,10 +39,13 @@ ## @end table ## ## @strong{Outputs} -## @var{retsys}: contains union of data in sys and requested data. -## If requested data in sys is already up to date then retsys=sys. +## @table @var +## @item retsys +## Contains union of data in sys and requested data. +## If requested data in @var{sys} is already up to date then @var{retsys}=@var{sys}. +## @end table ## -## Conversion to @code{tf} or @code{zp} exits with an error if the system is +## Conversion to @command{tf} or @command{zp} exits with an error if the system is ## mixed continuous/digital. ## @end deftypefn ## @seealso{tf, ss, zp, sysout, sys2ss, sys2tf, and sys2zp}
--- a/scripts/control/system/tf2ss.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/tf2ss.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,29 +17,41 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} tf2ss (@var{inputs}) -## @format +## @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}] =} tf2ss (@var{num}, @var{den}) ## Conversion from tranfer function to state-space. -## The state space system +## The state space system: +## @iftex +## @tex +## $$ \dot x = Ax + Bu $$ +## $$ y = Cx + Du $$ +## @end tex +## @end iftex +## @ifinfo +## @example ## . ## x = Ax + Bu ## y = Cx + Du -## -## is obtained from a transfer function -## +## @end example +## @end ifinfo +## is obtained from a transfer function: +## @iftex +## @tex +## $$ G(s) = { { \rm num }(s) \over { \rm den }(s) } $$ +## @end tex +## @end iftex +## @ifinfo +## @example ## num(s) ## G(s)=------- ## den(s) +## @end example +## @end ifinfo ## -## via the function call [a,b,c,d] = tf2ss(num,den). -## The vector 'den' must contain only one row, whereas the vector 'num' -## may contain as many rows as there are outputs of the system 'y'. -## The state space system matrices obtained from this function will be -## in controllable canonical form as described in "Modern Control Theory", -## [Brogan, 1991]. -## -## -## @end format +## The vector @var{den} must contain only one row, whereas the vector +## @var{num} may contain as many rows as there are outputs @var{y} of +## the system. The state space system matrices obtained from this function +## will be in controllable canonical form as described in @cite{Modern Control +## Theory}, (Brogan, 1991). ## @end deftypefn ## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
--- a/scripts/control/system/tf2sys.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/tf2sys.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,23 +18,26 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} tf2sys (@var{num}, @var{den}, @var{tsam}, @var{inname}, @var{outname}) -## build system data structure from transfer function format data +## Build system data structure from transfer function format data. ## ## @strong{Inputs} ## @table @var ## @item num ## @itemx den -## coefficients of numerator/denominator polynomials +## Coefficients of numerator/denominator polynomials. ## @item tsam -## sampling interval. default: 0 (continuous time) +## Sampling interval; default: 0 (continuous time). ## @item inname ## @itemx outname -## input/output signal names; may be a string or cell array with a single string +## Input/output signal names; may be a string or cell array with a single string ## entry. ## @end table ## -## @strong{Outputs} -## @var{sys} = system data structure +## @strong{Output} +## @table @var +## @item sys +## System data structure. +## @end table ## ## @strong{Example} ## @example
--- a/scripts/control/system/tf2zp.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/tf2zp.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,11 +17,12 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} tf2zp (@var{inputs}) -## Converts transfer functions to poles / zeros. +## @deftypefn {Function File} {[@var{zer}, @var{pol}, @var{k}] =} tf2zp (@var{num}, @var{den}) +## Converts transfer functions to poles-and-zero representations. ## -## [zer,pol,k] = tf2zp(num,den) returns the zeros and poles of the SISO system -## defined by num/den. K is a gain associated with the system zeros. +## Returns the zeros and poles of the @acronym{SISO} system defined +## by @var{num}/@var{den}. +## @var{k} is a gain associated with the system zeros. ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
--- a/scripts/control/system/ugain.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/ugain.m Wed Sep 22 02:50:36 2004 +0000 @@ -20,8 +20,8 @@ ## @deftypefn {Function File} {} ugain (@var{n}) ## Creates a system with unity gain, no states. ## This trivial system is sometimes needed to create arbitrary -## complex systems from simple systems with buildssic. -## Watch out if you are forming sampled systems since "ugain" +## complex systems from simple systems with @command{buildssic}. +## Watch out if you are forming sampled systems since @command{ugain} ## does not contain a sampling period. ## @end deftypefn ## @seealso{hinfdemo and jet707}
--- a/scripts/control/system/zp2ss.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/zp2ss.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,31 +19,40 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{a}, @var{b}, @var{c}, @var{d}] =} zp2ss (@var{zer}, @var{pol}, @var{k}) ## Conversion from zero / pole to state space. +## ## @strong{Inputs} ## @table @var ## @item zer ## @itemx pol -## vectors of (possibly) complex poles and zeros of a transfer -## function. Complex values must come in conjugate pairs -## (i.e., x+jy in zer means that x-jy is also in zer) +## Vectors of (possibly) complex poles and zeros of a transfer +## function. Complex values must come in conjugate pairs +## (i.e., @math{x+jy} in @var{zer} means that @math{x-jy} is also in @var{zer}). +## The number of zeros must not exceed the number of poles. ## @item k -## real scalar (leading coefficient) +## Real scalar (leading coefficient). ## @end table +## ## @strong{Outputs} -## @var{a}, @var{b}, @var{c}, @var{d} -## The state space system +## @table @var +## @item @var{a} +## @itemx @var{b} +## @itemx @var{c} +## @itemx @var{d} +## The state space system, in the form: +## @iftex +## @tex +## $$ \dot x = Ax + Bu $$ +## $$ y = Cx + Du $$ +## @end tex +## @end iftex +## @ifinfo ## @example -## . -## x = Ax + Bu -## y = Cx + Du +## . +## x = Ax + Bu +## y = Cx + Du ## @end example -## is obtained from a vector of zeros and a vector of poles via the -## function call @code{[a,b,c,d] = zp2ss(zer,pol,k)}. -## The vectors @samp{zer} and -## @samp{pol} may either be row or column vectors. Each zero and pole that -## has an imaginary part must have a conjugate in the list. -## The number of zeros must not exceed the number of poles. -## @samp{k} is @code{zp}-form leading coefficient. +## @end ifinfo +## @end table ## @end deftypefn ## Author: David Clem
--- a/scripts/control/system/zp2sys.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/zp2sys.m Wed Sep 22 02:50:36 2004 +0000 @@ -23,20 +23,23 @@ ## @strong{Inputs} ## @table @var ## @item zer -## vector of system zeros +## Vector of system zeros. ## @item pol -## vector of system poles +## Vector of system poles. ## @item k -## scalar leading coefficient +## Scalar leading coefficient. ## @item tsam -## sampling period. default: 0 (continuous system) +## Sampling period; default: 0 (continuous system). ## @item inname ## @itemx outname -## input/output signal names (lists of strings) +## Input/output signal names (lists of strings). ## @end table ## -## @strong{Outputs} -## sys: system data structure +## @strong{Output} +## @table @var +## @item sys +## System data structure. +## @end table ## ## @strong{Example} ## @example
--- a/scripts/control/system/zp2tf.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/system/zp2tf.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,17 +19,16 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {[@var{num}, @var{den}] =} zp2tf (@var{zer}, @var{pol}, @var{k}) ## Converts zeros / poles to a transfer function. +## ## @strong{Inputs} ## @table @var ## @item zer ## @itemx pol -## vectors of (possibly complex) poles and zeros of a transfer -## function. Complex values should appear in conjugate pairs +## Vectors of (possibly complex) poles and zeros of a transfer +## function. Complex values must appear in conjugate pairs. ## @item k -## real scalar (leading coefficient) +## Real scalar (leading coefficient). ## @end table -## @code{[num,den] = zp2tf(zer,pol,k)} forms the transfer function -## @code{num/den} from the vectors of poles and zeros. ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
--- a/scripts/control/util/__zgpbal__.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/util/__zgpbal__.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,18 +19,19 @@ ## -*- texinfo -*- ## @deftypefn {Function File} {} __zgpbal__ (@var{sys}) ## -## used internally in @code{tzero}; minimal argument checking performed +## Used internally in @command{tzero}; minimal argument checking performed. ## -## implementation of zero computation generalized eigenvalue problem +## 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) +## Based on Ward's balancing algorithm (@acronym{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] +## @command{__zgpbal__} computes a state/input/output weighting that attempts to +## reduced the range of the magnitudes of the nonzero elements of [@var{a}, @var{b}, +## @var{c}, @var{d}]. ## The weighting uses scalar multiplication by powers of 2, so no roundoff ## will occur. ## -## __zgpbal__ should be followed by zgpred +## @command{__zgpbal__} should be followed by @command{zgpred}. ## @end deftypefn ## References:
--- a/scripts/control/util/axis2dlim.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/util/axis2dlim.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,15 +18,22 @@ ## -*- texinfo -*- ## @deftypefn{Function File} {} axis2dlim (@var{axdata}) -## determine axis limits for 2-d data(column vectors); leaves a 10% margin -## around the plots. -## puts in margins of +/- 0.1 if data is one dimensional (or a single point) +## Determine axis limits for 2-D data (column vectors); leaves a 10% +## margin around the plots. +## Inserts margins of +/- 0.1 if data is one-dimensional +## (or a single point). ## -## @strong{Inputs} -## @var{axdata} nx2 matrix of data [x,y] +## @strong{Input} +## @table @var +## @item axdata +## @var{n} by 2 matrix of data [@var{x}, @var{y}]. +## @end table ## -## @strong{Outputs} -## @var{axvec} vector of axis limits appropriate for call to axis() function +## @strong{Output} +## @table @var +## @item axvec +## Vector of axis limits appropriate for call to @command{axis} function. +## @end table ## @end deftypefn function axvec = axis2dlim (axdata)
--- a/scripts/control/util/prompt.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/util/prompt.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,12 +17,17 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} prompt (@var{inputs}) -## @format -## function prompt([str]) +## @deftypefn {Function File} {} prompt (@var{str}) ## Prompt user to continue -## str: input string. Default value: "\n ---- Press a key to continue ---" -## @end format +## +## @strong{Input} +## @table @var +## @item str +## Input string. Its default value is: +## @example +## \n ---- Press a key to continue --- +## @end example +## @end table ## @end deftypefn ## Author: David Clem
--- a/scripts/control/util/sortcom.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/util/sortcom.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,20 +17,34 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} sortcom (@var{inputs}) -## @format -## [yy,idx] = sortcom(xx[,opt]): sort a complex vector -## xx: complex vector -## opt: sorting option: -## "re": real part (default) -## "mag": by magnitude -## "im": by imaginary part +## @deftypefn {Function File} {[@var{yy}, @var{idx}] =} sortcom (@var{xx}[, @var{opt}]) +## Sort a complex vector. ## -## if opt != "im" then complex conjugate pairs are grouped together, -## a - jb followed by a + jb. -## yy: sorted values -## idx: permutation vector: yy = xx(idx) -## @end format +## @strong{Inputs} +## @table @var +## @item xx +## Complex vector +## @item opt +## sorting option: +## @table @code +## @item "re" +## Real part (default); +## @item "mag" +## By magnitude; +## @item "im" +## By imaginary part. +## @end table +## if @var{opt} is not chosen as @code{"im"}, then complex conjugate pairs are grouped together, +## @math{a - jb} followed by @math{a + jb}. +## @end table +## +## @strong{Outputs} +## @table @var +## @item yy +## Sorted values +## @item idx +## Permutation vector: @code{yy = xx(idx)} +## @end table ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
--- a/scripts/control/util/zgfmul.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/util/zgfmul.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,9 +17,9 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} zgfmul (@var{a}, @var{b}, @var{c}, @var{d}, @var{x}) -## Compute product of zgep incidence matrix @math{F} with vector @var{x}. -## Used by zgepbal (in zgscal) as part of generalized conjugate gradient +## @deftypefn {Function File} {@var{y} =} zgfmul (@var{a}, @var{b}, @var{c}, @var{d}, @var{x}) +## Compute product of @var{zgep} incidence matrix @math{F} with vector @var{x}. +## Used by @command{zgepbal} (in @command{zgscal}) as part of generalized conjugate gradient ## iteration. ## @end deftypefn
--- a/scripts/control/util/zginit.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/util/zginit.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,10 +17,10 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} zginit (@var{a}, @var{b}, @var{c}, @var{d}) -## Construct right hand side vector zz +## @deftypefn {Function File} {@var{zz} =} zginit (@var{a}, @var{b}, @var{c}, @var{d}) +## Construct right hand side vector @var{zz} ## for the zero-computation generalized eigenvalue problem -## balancing procedure. Called by zgepbal. +## balancing procedure. Called by @command{zgepbal}. ## @end deftypefn ## References:
--- a/scripts/control/util/zgscal.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/util/zgscal.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,11 +17,10 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} zgscal (@var{f}, @var{z}, @var{n}, @var{m}, @var{p}) +## @deftypefn {Function File} {@var{x} =} zgscal (@var{f}, @var{z}, @var{n}, @var{m}, @var{p}) ## Generalized conjugate gradient iteration to ## solve zero-computation generalized eigenvalue problem balancing equation -## @math{fx=z}; -## called by @code{zgepbal} +## @math{fx=z}; called by @command{zgepbal}. ## @end deftypefn ## References:
--- a/scripts/control/util/zgshsr.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/control/util/zgshsr.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,10 +17,18 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} {} zgshsr (@var{y}) -## apply householder vector based on @math{e^(m)} to -## (column vector) y. -## Called by zgfslv +## @deftypefn {Function File} {@var{x} =} zgshsr (@var{y}) +## Apply householder vector based on +## @iftex +## @tex +## $ e^m $ +## @end tex +## @end iftex +## @ifinfo +## @math{e^(m)} +## @end ifinfo +## to column vector @var{y}. +## Called by @command{zgfslv}. ## @end deftypefn ## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
--- a/scripts/elfun/acoth.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/elfun/acoth.m Wed Sep 22 02:50:36 2004 +0000 @@ -18,7 +18,7 @@ ## 02111-1307, USA. ## -*- texinfo -*- -## @deftypefn {Mapping Function} acoth (@var{x}) +## @deftypefn {Mapping Function} {} acoth (@var{x}) ## Compute the inverse hyperbolic cotangent of each element of @var{x}. ## @end deftypefn
--- a/scripts/polynomial/polyout.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/polynomial/polyout.m Wed Sep 22 02:50:36 2004 +0000 @@ -17,14 +17,21 @@ ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. ## -*- texinfo -*- -## @deftypefn {Function File} polyout (@var{c}, @var{x}) +## @deftypefn {Function File} {} polyout (@var{c}, @var{x}) ## Write formatted polynomial +## @iftex +## @tex +## $$ c(x) = c_1 x^n + \ldots + c_n x + c_{n+1} $$ +## @end tex +## @end iftex +## @ifinfo ## @example ## c(x) = c(1) * x^n + ... + c(n) x + c(n+1) ## @end example +## @end ifinfo ## and return it as a string or write it to the screen (if ## @var{nargout} is zero). -## @var{x} defaults to the string @code{"s"} +## @var{x} defaults to the string @code{"s"}. ## @end deftypefn ## @seealso{polyval, polyvalm, poly, roots, conv, deconv, residue, ## filter, polyderiv, and polyinteg}
--- a/scripts/polynomial/roots.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/polynomial/roots.m Wed Sep 22 02:50:36 2004 +0000 @@ -32,7 +32,7 @@ ## @ifinfo ## ## @example -## v(1) * z^(N-1) + ... + v(N-1) * z + v(N). +## v(1) * z^(N-1) + ... + v(N-1) * z + v(N) ## @end example ## @end ifinfo ## @end deftypefn
--- a/scripts/specfun/log2.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/specfun/log2.m Wed Sep 22 02:50:36 2004 +0000 @@ -19,7 +19,7 @@ ## -*- texinfo -*- ## @deftypefn {Mapping Function} {} log2 (@var{x}) -## @deftypefnx {Mapping Function} {[@var{f}, @var{e}]} log2 (@var{x}) +## @deftypefnx {Mapping Function} {[@var{f}, @var{e}] =} log2 (@var{x}) ## Compute the base-2 logarithm of @var{x}. With two outputs, returns ## @var{f} and @var{e} such that ## @iftex
--- a/scripts/special-matrix/toeplitz.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/special-matrix/toeplitz.m Wed Sep 22 02:50:36 2004 +0000 @@ -25,15 +25,15 @@ ## @var{c} is used. If the second argument is omitted, the first row is ## taken to be the same as the first column. ## -## A square Toeplitz matrix has the form +## A square Toeplitz matrix has the form: ## @iftex ## @tex ## $$ -## \left[\matrix{c_0 & r_1 & r_2 & \ldots & r_n\cr -## c_1 & c_0 & r_1 & & c_{n-1}\cr -## c_2 & c_1 & c_0 & & c_{n-2}\cr -## \vdots & & & & \vdots\cr -## c_n & c_{n-1} & c_{n-2} & \ldots & c_0}\right]. +## \left[\matrix{c_0 & r_1 & r_2 & \cdots & r_n\cr +## c_1 & c_0 & r_1 & \cdots & r_{n-1}\cr +## c_2 & c_1 & c_0 & \cdots & r_{n-2}\cr +## \vdots & \vdots & \vdots & \ddots & \vdots\cr +## c_n & c_{n-1} & c_{n-2} & \ldots & c_0}\right] ## $$ ## @end tex ## @end iftex @@ -42,12 +42,11 @@ ## @example ## @group ## c(0) r(1) r(2) ... r(n) -## c(1) c(0) r(1) r(n-1) -## c(2) c(1) c(0) r(n-2) -## . . -## . . -## . . -## +## c(1) c(0) r(1) ... r(n-1) +## c(2) c(1) c(0) ... r(n-2) +## . , , . . +## . , , . . +## . , , . . ## c(n) c(n-1) c(n-2) ... c(0) ## @end group ## @end example
--- a/scripts/special-matrix/vander.m Wed Sep 22 02:18:13 2004 +0000 +++ b/scripts/special-matrix/vander.m Wed Sep 22 02:50:36 2004 +0000 @@ -21,14 +21,14 @@ ## @deftypefn {Function File} {} vander (@var{c}) ## Return the Vandermonde matrix whose next to last column is @var{c}. ## -## A Vandermonde matrix has the form +## A Vandermonde matrix has the form: ## @iftex ## @tex ## $$ -## \left[\matrix{c_0^n & \ldots & c_0^2 & c_0 & 1\cr -## c_1^n & \ldots & c_1^2 & c_1 & 1\cr -## \vdots & & \vdots & \vdots & \vdots\cr -## c_n^n & \ldots & c_n^2 & c_n & 1}\right]. +## \left[\matrix{c_1^{n-1} & \cdots & c_1^2 & c_1 & 1 \cr +## c_2^{n-1} & \cdots & c_2^2 & c_2 & 1 \cr +## \vdots & \ddots & \vdots & \vdots & \vdots \cr +## c_n^{n-1} & \cdots & c_n^2 & c_n & 1 }\right] ## $$ ## @end tex ## @end iftex @@ -36,13 +36,12 @@ ## ## @example ## @group -## c(0)^n ... c(0)^2 c(0) 1 -## c(1)^n ... c(1)^2 c(1) 1 -## . . . . -## . . . . -## . . . . -## -## c(n)^n ... c(n)^2 c(n) 1 +## c(1)^(n-1) ... c(1)^2 c(1) 1 +## c(2)^(n-1) ... c(2)^2 c(2) 1 +## . . . . . +## . . . . . +## . . . . . +## c(n)^(n-1) ... c(n)^2 c(n) 1 ## @end group ## @end example ## @end ifinfo
--- a/src/DLD-FUNCTIONS/qz.cc Wed Sep 22 02:18:13 2004 +0000 +++ b/src/DLD-FUNCTIONS/qz.cc Wed Sep 22 02:50:36 2004 +0000 @@ -207,30 +207,48 @@ "-*- texinfo -*-\n\ @deftypefn {Loadable Function} {@var{lambda} =} qz (@var{a}, @var{b})\n\ Generalized eigenvalue problem @math{A x = s B x},\n\ -@var{QZ} decomposition. Three ways to call:\n\ +@var{QZ} decomposition. There are three ways to call this function:\n\ @enumerate\n\ @item @code{lambda = qz(A,B)}\n\ \n\ -Computes the generalized eigenvalues @var{lambda} of @math{(A - sB)}.\n\ -\n\ +Computes the generalized eigenvalues\n\ +@iftex\n\ +@tex\n\ +$\\lambda$\n\ +@end tex\n\ +@end iftex\n\ +@ifinfo\n\ +@var{lambda}\n\ +@end ifinfo\n\ +of @math{(A - s B)}.\n\ @item @code{[AA, BB, Q, Z, V, W, lambda] = qz (A, B)}\n\ \n\ Computes qz decomposition, generalized eigenvectors, and \n\ generalized eigenvalues of @math{(A - sB)}\n\ +@iftex\n\ +@tex\n\ +$$ AV = BV{ \\rm diag }(\\lambda) $$\n\ +$$ W^T A = { \\rm diag }(\\lambda)W^T B $$\n\ +$$ AA = Q^T AZ, BB = Q^T BZ $$\n\ +@end tex\n\ +@end iftex\n\ +@ifinfo\n\ @example\n\ @group\n\ - A V = B V diag(lambda)\n\ - W' A = diag(lambda) W' B\n\ - AA = Q'*A*Z, BB = Q'*B*Z with Q, Z orthogonal (unitary)= I\n\ + A*V = B*V*diag(lambda)\n\ + W'*A = diag(lambda)*W'*B\n\ + AA = Q'*A*Z, BB = Q'*B*Z\n\ @end group\n\ @end example\n\ +@end ifinfo\n\ +with @var{Q} and @var{Z} orthogonal (unitary)= @var{I}\n\ \n\ -@item @code{[AA,BB,Z@{,lambda@}] = qz(A,B,opt)}\n\ +@item @code{[AA,BB,Z@{, lambda@}] = qz(A,B,opt)}\n\ \n\ As in form [2], but allows ordering of generalized eigenpairs\n\ for (e.g.) solution of discrete time algebraic Riccati equations.\n\ - Form 3 is not available for complex matrices and does not compute\n\ - the generalized eigenvectors V, W, nor the orthogonal matrix Q.\n\ + Form 3 is not available for complex matrices, and does not compute\n\ + the generalized eigenvectors @var{V}, @var{W}, nor the orthogonal matrix @var{Q}.\n\ @table @var\n\ @item opt\n\ for ordering eigenvalues of the GEP pencil. The leading block\n\
--- a/src/DLD-FUNCTIONS/time.cc Wed Sep 22 02:18:13 2004 +0000 +++ b/src/DLD-FUNCTIONS/time.cc Wed Sep 22 02:50:36 2004 +0000 @@ -228,7 +228,7 @@ \n\ @example\n\ @group\n\ -strftime (\"%r (%Z) %A %e %B %Y\", localtime (time ())\n\ +strftime (\"%r (%Z) %A %e %B %Y\", localtime (time ()) )\n\ @result{} \"01:15:06 AM (CST) Monday 17 February 1997\"\n\ @end group\n\ @end example\n\
--- a/src/error.cc Wed Sep 22 02:18:13 2004 +0000 +++ b/src/error.cc Wed Sep 22 02:50:36 2004 +0000 @@ -694,7 +694,7 @@ @deftypefn {Built-in Function} {} lasterr ()\n\ @deftypefnx {Built-in Function} {} lasterr (@var{msg})\n\ Without any arguments, return the last error message. With one\n\ -argument, set the last warning message to @var{msg}.\n\ +argument, set the last error message to @var{msg}.\n\ @end deftypefn") { octave_value_list retval; @@ -722,7 +722,7 @@ @deftypefn {Built-in Function} {} lastwarn ()\n\ @deftypefnx {Built-in Function} {} lastwarn (@var{msg})\n\ Without any arguments, return the last warning message. With one\n\ -argument, set the last error message to @var{msg}.\n\ +argument, set the last warning message to @var{msg}.\n\ @end deftypefn") { octave_value_list retval;
--- a/src/file-io.cc Wed Sep 22 02:18:13 2004 +0000 +++ b/src/file-io.cc Wed Sep 22 02:50:36 2004 +0000 @@ -1751,7 +1751,7 @@ @deftypefn {Built-in Function} {[@var{fid}, @var{name}, @var{msg}] =} tmpfile (@var{template}, @var{delete})\n\ Return the file ID corresponding to a new temporary file with a unique\n\ name created from @var{template}. The last six characters of @var{template}\n\ -must be @code{XXXXXX} and tehse are replaced with a string that makes the\n\ +must be @code{XXXXXX} and these are replaced with a string that makes the\n\ filename unique. The file is then created with mode read/write and\n\ permissions that are system dependent (on GNU/Linux systems, the permissions\n\ will be 0600 for versions of glibc 2.0.7 and later). The file is opened\n\
--- a/src/input.cc Wed Sep 22 02:18:13 2004 +0000 +++ b/src/input.cc Wed Sep 22 02:50:36 2004 +0000 @@ -1164,10 +1164,10 @@ DEFVAR (PS4, "+ ", ps4, "-*- texinfo -*-\n\ @defvr {Built-in Variable} PS4\n\ -If Octave is invoked with the @code{--echo-input} option, the value of\n\ +If Octave is invoked with the @code{--echo-commands} option, the value of\n\ @code{PS4} is printed before each line of input that is echoed. The\n\ default value of @code{PS4} is @code{\"+ \"}. @xref{Invoking Octave}, for\n\ -a description of @code{--echo-input}.\n\ +a description of @code{--echo-commands}.\n\ @end defvr"); DEFVAR (completion_append_char, " ", completion_append_char,
--- a/src/mappers.cc Wed Sep 22 02:18:13 2004 +0000 +++ b/src/mappers.cc Wed Sep 22 02:50:36 2004 +0000 @@ -222,7 +222,6 @@ @ifinfo\n\ @var{theta} = @code{atan (@var{y}/@var{x})}.\n\ @end ifinfo\n\ -\n\ @noindent\n\ in radians. \n\ \n\ @@ -245,7 +244,7 @@ DEFUN_MAPPER (asinh, 0, 0, 0, asinh, 0, asinh, 0.0, 0.0, 0, 0, "-*- texinfo -*-\n\ @deftypefn {Mapping Function} {} asinh (@var{x})\n\ -Ompute the inverse hyperbolic sine of each element of @var{x}.\n\ +Compute the inverse hyperbolic sine of each element of @var{x}.\n\ @end deftypefn"); DEFUN_MAPPER (atan, 0, 0, 0, atan, 0, atan, 0.0, 0.0, 0, 0, @@ -257,7 +256,7 @@ DEFUN_MAPPER (atanh, 0, 0, 0, atanh, 0, atanh, -1.0, 1.0, 0, 1, "-*- texinfo -*-\n\ @deftypefn {Mapping Function} {} atanh (@var{x})\n\ -Compute the inverse hyperbolic tanget of each element of @var{x}.\n\ +Compute the inverse hyperbolic tangent of each element of @var{x}.\n\ @end deftypefn"); DEFUN_MAPPER (ceil, 0, 0, 0, ceil, 0, ceil, 0.0, 0.0, 0, 0, @@ -349,8 +348,8 @@ \n\ @example\n\ @group\n\ -finite ([13, Inf, NaN])\n\ - @result{} [ 1, 0, 0 ]\n\ +finite ([13, Inf, NA, NaN])\n\ + @result{} [ 1, 0, 0, 0 ]\n\ @end group\n\ @end example\n\ @end deftypefn"); @@ -599,13 +598,13 @@ DEFUN_MAPPER (sin, 0, 0, 0, sin, 0, sin, 0.0, 0.0, 0, 0, "-*- texinfo -*-\n\ @deftypefn {Mapping Function} {} sin (@var{x})\n\ -Compute the sin of each element of @var{x}.\n\ +Compute the sine of each element of @var{x}.\n\ @end deftypefn"); DEFUN_MAPPER (sinh, 0, 0, 0, sinh, 0, sinh, 0.0, 0.0, 0, 0, "-*- texinfo -*-\n\ @deftypefn {Mapping Function} {} sinh (@var{x})\n\ -Compute the inverse hyperbolic sin of each element of @var{x}.\n\ +Compute the inverse hyperbolic sine of each element of @var{x}.\n\ @end deftypefn"); DEFUN_MAPPER (sqrt, 0, 0, 0, sqrt, 0, sqrt, 0.0, octave_Inf, 0, 1, @@ -619,7 +618,7 @@ DEFUN_MAPPER (tan, 0, 0, 0, tan, 0, tan, 0.0, 0.0, 0, 0, "-*- texinfo -*-\n\ @deftypefn {Mapping Function} {} tan (@var{z})\n\ -Compute tanget of each element of @var{x}.\n\ +Compute tangent of each element of @var{x}.\n\ @end deftypefn"); DEFUN_MAPPER (tanh, 0, 0, 0, tanh, 0, tanh, 0.0, 0.0, 0, 0,
--- a/src/pt-assign.cc Wed Sep 22 02:18:13 2004 +0000 +++ b/src/pt-assign.cc Wed Sep 22 02:50:36 2004 +0000 @@ -334,7 +334,7 @@ { DEFVAR (print_rhs_assign_val, false, print_rhs_assign_val, "-*- texinfo -*-\n\ -@defvr print_rhs_assign_val\n\ +@defvr {Built-in Variable} print_rhs_assign_val\n\ If the value of this variable is non-zero, Octave will print the value\n\ of the right hand side of assignment expressions instead of the value\n\ of the left hand side (after the assignment).\n\
--- a/src/pt-plot.cc Wed Sep 22 02:18:13 2004 +0000 +++ b/src/pt-plot.cc Wed Sep 22 02:50:36 2004 +0000 @@ -1358,7 +1358,7 @@ @defvr {Built-in Variable} gnuplot_has_frames\n\ If the value of this variable is nonzero, Octave assumes that your copy\n\ of gnuplot has support for multiple frames that is included in recent\n\ -3.6beta releases. It's initial value is determined by configure, but it\n\ +3.6beta releases. Its initial value is determined by configure, but it\n\ can be changed in your startup script or at the command line in case\n\ configure got it wrong, or if you upgrade your gnuplot installation.\n\ @end defvr");
--- a/src/symtab.cc Wed Sep 22 02:18:13 2004 +0000 +++ b/src/symtab.cc Wed Sep 22 02:50:36 2004 +0000 @@ -1766,7 +1766,7 @@ { DEFVAR (variables_can_hide_functions, true, variables_can_hide_functions, "-*- texinfo -*-\n\ -@defvr variables_can_hide_functions\n\ +@defvr {Built-in Variable} variables_can_hide_functions\n\ If the value of this variable is nonzero, assignments to variables may\n\ hide previously defined functions of the same name. A negative value\n\ will cause Octave to print a warning, but allow the operation.\n\