Mercurial > octave

changeset 3386:a5288b88446f

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[project @ 1999-12-15 22:56:00 by jwe]
author jwe
date Wed, 15 Dec 1999 22:56:03 +0000
parents 10f21f7ccc7f
children eb4223985ca8
files scripts/ChangeLog scripts/control/analdemo.m scripts/control/bddemo.m scripts/control/dgkfdemo.m scripts/control/frdemo.m scripts/control/moddemo.m scripts/control/sysrepdemo.m
diffstat 7 files changed, 136 insertions(+), 128 deletions(-) [+]
line wrap: on
line diff
--- a/scripts/ChangeLog	Wed Dec 15 22:28:52 1999 +0000
+++ b/scripts/ChangeLog	Wed Dec 15 22:56:03 1999 +0000
@@ -1,5 +1,13 @@
 1999-12-15  John W. Eaton  <jwe@bevo.che.wisc.edu>
 
+	* control/bddemo.m: Make it more likely to work with
+	whitespace_in_literal_matrix = "ignore".
+	* control/analdemo.m: Ditto.
+	* control/dgkfdemo.m: Ditto.
+	* control/frdemo.m: Ditto.
+	* control/sysrepdemo.m: Ditto.
+	* control/moddemo.m: Ditto.
+
 	* control/dezero.m: Use toascii to convert string to ASCII value
 	instead of multiplying it by 1.
 
--- a/scripts/control/analdemo.m	Wed Dec 15 22:28:52 1999 +0000
+++ b/scripts/control/analdemo.m	Wed Dec 15 22:56:03 1999 +0000
@@ -47,9 +47,9 @@
       clc 
       disp("System Grammians: (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]
+      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:");
@@ -69,9 +69,9 @@
       clc
 
       disp("Example #2, consider the continuous state space system:\n");
-      a=[1 3 -10.2;3.7 -2 9;1 3 7]
-      b=[1 12;6 2;-3.8 7]
-      c=[1 -1.1 7;3 -9.8 2]
+      a=[1, 3, -10.2; 3.7, -2, 9; n1, 3, 7]
+      b=[1, 12; 6, 2; -3.8, 7]
+      c=[1, -1.1, 7; 3, -9.8, 2]
       d=0
       prompt
       disp("\nThe continuous controllability grammian is computed as follows:");
@@ -94,9 +94,9 @@
 
       disp("System zeros (tzero) example\n");
       disp("Example #1, consider the state space system:\n");
-      a=[0 1 0;-10 -2 0;-10 0 -8]
-      b=[0;1;9]
-      c=[-10 0 -4]
+      a=[0, 1, 0; -10, -2, 0; -10, 0, -8]
+      b=[0; 1; 9]
+      c=[-10, 0, -4]
       d=1
       prompt
       disp("\nTo compute the zeros of this system, enter the following command:\n");
@@ -135,7 +135,7 @@
       clc
       disp("Continuous => Discrete and Discrete => Continuous conversions (c2d,d2c)");
       disp("\nExample #1, consider the following continuous state space system");
-      cmd = "sys_cont = ss2sys([-11 6;-15 8], [1;2], [2 -1], 0);";
+      cmd = "sys_cont = ss2sys([-11, 6; -15, 8], [1; 2], [2, -1], 0);";
       eval(cmd);
       disp(cmd);
       disp("Examine the poles and zeros of the continuous system:");
@@ -170,9 +170,9 @@
       disp("Algebraic Riccati Equation (are, dare)");
 
       disp("\nExample #1, consider the continuous state space system:\n");
-      a=[1 3 -10.2;3.7 -2 9;1 3 7]
-      b=[1 12;6 2;-3.8 7]
-      c=[1 -1.1 7;3 -9.8 2]
+      a=[1, 3, -10.2; 3.7, -2, 9; 1, 3, 7]
+      b=[1, 12; 6, 2; -3.8, 7]
+      c=[1, -1.1, 7; 3, -9.8, 2]
       d=0
       prompt
       disp("\nThe solution to the continuous algebraic riccati equation");
@@ -192,9 +192,9 @@
       clc
 
       disp("Example #2, consider the discrete time state space system:\n");
-      a=[1 5 -8.4;1.2 -3 5;1 7 9]
-      b=[1 5;2 6;-4.4 5]
-      c=[1 -1.5 2;6 -9.8 1]
+      a=[1, 5, -8.4; 1.2, -3, 5; 1, 7, 9]
+      b=[1, 5; 2, 6; -4.4, 5]
+      c=[1, -1.5, 2; 6, -9.8, 1]
       d=0
       r=eye(columns(b))
       prompt
@@ -216,7 +216,7 @@
       disp("--- Open loop balanced truncation: not yet implemented")
     elseif (k == 7)
       disp("SISO pole placement example:")
-      cmd = "sys=tf2sys(1,[1 -2 1]);";
+      cmd = "sys=tf2sys(1, [1, -2, 1]);";
       run_cmd
       disp("System in zero-pole form is:")
       cmd = "sysout(sys,\"zp\");";
@@ -225,7 +225,7 @@
       cmd = "sysout(sys,\"ss\");";
       run_cmd
       disp("Desired poles at -1, -1");
-      cmd = "K=place(sys,[-1 -1])";
+      cmd = "K=place(sys, [-1, -1])";
       run_cmd
       disp("Check results:")
       cmd = "[A,B] = sys2ss(sys);";
--- a/scripts/control/bddemo.m	Wed Dec 15 22:28:52 1999 +0000
+++ b/scripts/control/bddemo.m	Wed Dec 15 22:56:03 1999 +0000
@@ -95,7 +95,7 @@
       help sysappend
       prompt
       disp("Consider a double-integrator system:")
-      sys = tf2sys(1,[1 0 0]);
+      sys = tf2sys(1, [1, 0, 0]);
       sys=sysupdate(sys,"ss");
       sysout(sys,"ss");
       disp("We add a velocity disturbance input as follows:")
@@ -145,8 +145,8 @@
       disp("        ------------------     ---------------------");
       disp(" u_in ->| Discrete system |--->| Continuous system | ---> y_out");
       disp("        ------------------     ---------------------");
-      sys1 = tf2sys([1 2],[1 2 1], 1,"u_in","y_disc");
-      sys2 = tf2sys([1 0],[1 -3 -2],0,"c_in","y_out");
+      sys1 = tf2sys([1, 2],[1, 2, 1], 1,"u_in","y_disc");
+      sys2 = tf2sys([1, 0],[1, -3, -2],0,"c_in","y_out");
       sys = sysmult(sys2,sys1);
       disp("Consider the hybrid system")
       sysout(sys);
@@ -169,8 +169,8 @@
       disp("sysdisc returns dsys=empty since sys has no discrete outputs.");
       prompt
       disp("Example block diagram 2:")
-      sys1 = tf2sys([1 2],[1 2 1], 1,"u_in","y_disc");
-      sys2 = tf2sys([1 0],[1 -3 -2],0,"c_in","y_out");
+      sys1 = tf2sys([1, 2],[1, 2, 1], 1,"u_in","y_disc");
+      sys2 = tf2sys([1, 0],[1, -3, -2],0,"c_in","y_out");
       disp("             ---------------------")
       disp(" u_in -->o-->| Discrete system   | --------> y_disc")
       disp("         ^   ---------------------    |")  
@@ -186,7 +186,7 @@
       sys = sysgroup(sys1, sys2);
       sysout(sys)
       prompt
-      sys = sysconnect(sys,[1 2],[2 1]);
+      sys = sysconnect(sys,[1, 2],[2, 1]);
       sysout(sys);
       cmd = "[csys,Acd,Bcd] = syscont(sys);";
       run_cmd
@@ -208,9 +208,9 @@
       disp(" ")
       prompt
       disp("Example: combine two SISO systems together:")
-      cmd = "sys_a=tf2sys([1 2],[3 4]);";
+      cmd = "sys_a=tf2sys([1, 2],[3, 4]);";
       run_cmd
-      cmd = "sys_b=tf2sys([5 6],[7 8],1);";
+      cmd = "sys_b=tf2sys([5, 6],[7, 8],1);";
       run_cmd
       cmd = "sys_g=sysgroup(sys_a,sys_b);";
       run_cmd
@@ -234,8 +234,8 @@
       disp("   u --->|  Bsys  |---->|  Asys  |---> y")
       disp("         ----------     ----------")
       disp(" ")
-      Asys = tf2sys(1,[1 2 1],0,"a_in","a_out");
-      Bsys = tf2sys([2 3],[1 3 2],0,"b_in","b_out");
+      Asys = tf2sys(1,[1, 2, 1],0,"a_in","a_out");
+      Bsys = tf2sys([2, 3],[1, 3, 2],0,"b_in","b_out");
       disp("Asys=")
       sysout(Asys);
       disp("Bsys=");
@@ -249,7 +249,7 @@
       disp("when multiplying polynomials");
       prompt
       disp("Example 2: same system, except that Bsys is discrete-time");
-      Bsys = tf2sys([2 3],[1 3 2],1e-2,"b_in","b_out");
+      Bsys = tf2sys([2, 3],[1, 3, 2],1e-2,"b_in","b_out");
       sysout(Bsys);
       cmd = "sys = sysmult(Asys,Bsys);";
       run_cmd
@@ -273,8 +273,8 @@
       help parallel
       disp("parallel operates by making a call to sysgroup and sysscale.")
       disp("Example:")
-      sys1 = tf2sys(1,[1 1],0,"in1","out1");
-      sys2 = tf2sys(2,[1 2],0,"in2","out2");
+      sys1 = tf2sys(1,[1, 1],0,"in1","out1");
+      sys2 = tf2sys(2,[1, 2],0,"in2","out2");
       disp("sys1=")
       sysout(sys1);
       disp("sys2=")
@@ -291,8 +291,8 @@
       out1 = list("y1.1","y1.2");
       out2 = list("y2.1","y2.2");
 
-      sys1 = ss2sys([-1,0;0 -2],eye(2),eye(2),[]);
-      sys2 = ss2sys([-2,0;0 -4],eye(2),eye(2),[]);
+      sys1 = ss2sys([-1, 0; 0, -2],eye(2),eye(2),[]);
+      sys2 = ss2sys([-2, 0; 0, -4],eye(2),eye(2),[]);
 
       sys1 = syssetsignals(sys1,"in",in1);
       sys1 = syssetsignals(sys1,"out",out1);
@@ -361,11 +361,11 @@
       disp("Simple example: P(s) is a first order lag, K(s) is a PI ")
       disp("controller")
       nump = 1;
-      denp = [1  1];
+      denp = [1, 1];
       disp("P(s)=")
       tfout(nump,denp)
-      numk = [1 1];
-      denk = [1 0];
+      numk = [1, 1];
+      denk = [1, 0];
       disp("\nK(s)=")
       tfout(numk,denk);
       prompt
@@ -445,7 +445,7 @@
           disp("Notice that PK now has three inputs (input 3 is a duplicate ");
           prompt("of input 2).  Press return to go on")
           disp("Step 3b: scale input 3 by -1")
-          cmd = "PK = sysscale(PK,[],diag([1,1,-1]));";
+          cmd = "PK = sysscale(PK,[],diag([1, 1, -1]));";
           run_cmd
           disp("PK=")
           sysout(PK);
@@ -455,8 +455,8 @@
           disp("   u(t) (output 2) to plant input (input 1)")
           disp("and prune extraneous inputs/outputs (retain input 2, output 1)")
           prompt
-          out_connect = [1 2]
-          in_connect = [3 1]
+          out_connect = [1, 2]
+          in_connect = [3, 1]
           cmd = "PK0 = sysconnect(PK,out_connect,in_connect);"; 
           run_cmd
           prompt
@@ -536,7 +536,7 @@
           disp(" ")
       disp("Step 1: We've already created systems P and K.  Create a sum ")
       disp("block as follows:")
-      cmd = "S = ss2sys([],[],[],[1 -1],0,0,0,[],list(""r(t)"",""y(t)""),""e(t)"");";
+      cmd = "S = ss2sys([],[],[],[1, -1],0,0,0,[],list(""r(t)"",""y(t)""),""e(t)"");";
       run_cmd
       disp("(You may wish to look at help ss2sys to see what the above does)");
       disp("S=")
@@ -570,7 +570,7 @@
           disp(" ")
       disp("Step 1: We've already created systems P and K.")
       disp("        Let us call buildssic:")
-      disp("   PKcl = buildssic([1 2;2 -1],[],[1],[2],P,K)")
+      disp("   PKcl = buildssic([1, 2; 2, -1],[],[1],[2],P,K)")
       disp(" ")
       disp("                         ^      ^  ^   ^  ^ ^")
       disp("                         |      |  |   |  | |")
@@ -589,7 +589,7 @@
       disp(" ")
       disp("      input list: the only input is 2 (K), positive")
       disp(" ")
-      cmd = "PKcl = buildssic([1 2;2 -1],[],[1],[2],P,K);"
+      cmd = "PKcl = buildssic([1, 2; 2, -1],[],[1],[2],P,K);"
       run_cmd
       sysout(PKcl)
       prompt
--- a/scripts/control/dgkfdemo.m	Wed Dec 15 22:28:52 1999 +0000
+++ b/scripts/control/dgkfdemo.m	Wed Dec 15 22:56:03 1999 +0000
@@ -48,15 +48,15 @@
       help lqr
       disp(' ')
       disp('Example:')
-      A = [0 1; -2 -1]
+      A = [0, 1; -2, -1]
       B = [0; 1]
-      Q = [1 0; 0 0]
+      Q = [1, 0; 0, 0]
       R = 1
       disp("Q = state penalty matrix; R = input penalty matrix")
       prompt
       disp('Compute state feedback gain k, ARE solution P, and closed-loop')
       disp('poles as follows:');
-      cmd = "[k p e] = lqr(A,B,Q,R)";
+      cmd = "[k, p, e] = lqr(A,B,Q,R)";
       run_cmd
       prompt
       disp("A similar approach can be used for LTI discrete-time systems")
@@ -67,19 +67,19 @@
       help lqe
       disp(' ')
       disp('Example:')
-      A = [0 1; -2 -1]
+      A = [0, 1; -2, -1]
       disp("disturbance entry matrix G")
       G = eye(2)
       disp("Output measurement matrix C")
-      C = [0  1]
-      SigW = [1 0; 0 1]
+      C = [0, 1]
+      SigW = [1, 0; 0, 1]
       SigV = 1
       disp("SigW = input disturbance intensity matrix;")
       disp("SigV = measurement noise intensity matrix")
       prompt
       disp('Compute estimator feedback gain k, ARE solution P, and estimator')
       disp('poles via the command: ')
-      cmd = "[k p e] = lqe(A,G,C,SigW,SigV)";
+      cmd = "[k, p, e] = lqe(A,G,C,SigW,SigV)";
       run_cmd
       disp("A similar approach can be used for LTI discrete-time systems")
       disp("by using the dlqe command in place of lqe (see LQG example).")
@@ -91,11 +91,11 @@
       prompt
       help lqg
       disp("Example system")
-      A = [0 1; .5 .5];
-      B = [0 ; 2];
+      A = [0, 1; .5, .5];
+      B = [0; 2];
       G = eye(2)
-      C = [1 1];
-      sys = ss2sys(A,[B G],C);
+      C = [1, 1];
+      sys = ss2sys(A, [B, G], C);
       sys = syssetsignals(sys,"in", ...
 		       ["control input"; "disturbance 1"; "disturbance 2"]);
       sysout(sys)
@@ -110,19 +110,19 @@
       cmd = "[K,Q1,P1,Ee,Er] = lqg(sys,SigW,SigV,Q,R,1);";
       run_cmd
       disp("Check: closed loop system A-matrix is")
-      disp(" [A      B*Cc]")
-      disp(" [Bc*C   Ac  ]")
-      cmd = "[Ac,Bc,Cc] = sys2ss(K);";
+      disp(" [A,      B*Cc]")
+      disp(" [Bc*C,   Ac  ]")
+      cmd = "[Ac, Bc, Cc] = sys2ss(K);";
       run_cmd
-      cmd = "Acl = [A , B*Cc ; Bc*C  Ac]";
+      cmd = "Acl = [A, B*Cc; Bc*C, Ac]";
       run_cmd
       disp("Check: poles of Acl:")
       Acl_poles = sortcom(eig(Acl))
       disp("Predicted poles from design = union(Er,Ee)")
-      cmd = "pred_poles = sortcom([Er;Ee])";
+      cmd = "pred_poles = sortcom([Er; Ee])";
       run_cmd
       disp("Example 2: discrete-time example")
-      cmd1 = "Dsys = ss2sys(A,[G B],C,[0 0 0],1);";
+      cmd1 = "Dsys = ss2sys(A, [G, B], C, [0, 0, 0], 1);";
       cmd2 = "[K,Q1,P1,Ee,Er] = lqg(Dsys,SigW, SigV,Q,R);";
       disp("Run commands:")
       cmd = cmd1;
@@ -131,10 +131,10 @@
       run_cmd
       prompt
       disp("Check: closed loop system A-matrix is")
-      disp(" [A      B*Cc]")
-      disp(" [Bc*C   Ac  ]")
+      disp(" [A,      B*Cc]")
+      disp(" [Bc*C,   Ac  ]")
       [Ac,Bc,Cc] = sys2ss(K);
-      Acl = [A , B*Cc ; Bc*C  Ac]
+      Acl = [A, B*Cc; Bc*C, Ac]
       prompt
       disp("Check: poles of Acl:")
       Acl_poles = sortcom(eig(Acl))
@@ -143,7 +143,7 @@
     elseif (menuopt == 4)
       disp('H2 gain of a system: (Energy in impulse response)')
       disp('Example 1: Stable plant:')
-      cmd = "A = [0 1; -2 -1]; B = [0 ; 1]; C = [1 0]; sys_poles = eig(A)";
+      cmd = "A = [0, 1; -2, -1]; B = [0; 1]; C = [1, 0]; sys_poles = eig(A)";
       run_cmd
       disp("Put into Packed system form:")
       cmd = "Asys = ss2sys(A,B,C);";
@@ -160,11 +160,11 @@
       title("impulse response of example plant")
       prompt
       disp('Example 2: unstable plant')
-      cmd = "A = [0 1; 2 1]";
+      cmd = "A = [0, 1; 2, 1]";
       eval(cmd);
-      cmd = "B = [0 ; 1]";
+      cmd = "B = [0; 1]";
       eval(cmd);
-      cmd = "C = [1 0]";
+      cmd = "C = [1, 0]";
       eval(cmd);
       cmd = "sys_poles = eig(A)";
       run_cmd
@@ -195,22 +195,22 @@
       disp("      w1(t)           w2(t)");
       disp(" ")
       disp("w enters the system through B1, u through B2")
-      disp("z = [y1 ; y2] is obtained through C1, y=y1 through C2");
+      disp("z = [y1; y2] is obtained through C1, y=y1 through C2");
       disp(" ")
-      cmd = "A = [0 1; 0 0];  B1 = [0 0;1 0]; B2 = [0;1];";
+      cmd = "A = [0, 1; 0, 0];  B1 = [0, 0; 1, 0]; B2 = [0; 1];";
       disp(cmd)
       eval(cmd);
-      cmd = "C1 = [1 0; 0 0]; C2 = [1 0];    D11 = zeros(2);";
+      cmd = "C1 = [1, 0; 0, 0]; C2 = [1, 0];    D11 = zeros(2);";
       disp(cmd)
       eval(cmd);
-      cmd = "D12 = [0;1];    D21 = [0 1];    D22 = 0; D = [D11 D12; D21 D22];";
+      cmd = "D12 = [0; 1];  D21 = [0, 1];  D22 = 0; D = [D11, D12; D21, D22];";
       disp(cmd)
       eval(cmd);
       disp("Design objective: compute U(s)=K(s)Y1(s) to minimize the closed")
       disp("loop impulse response from w(t) =[w1; w2] to z(t) = [y1; y2]");
       prompt
       disp("First: pack system:")
-      cmd="Asys = ss2sys(A,[B1 B2], [C1;C2] , D);";
+      cmd="Asys = ss2sys(A, [B1, B2], [C1; C2], D);";
       run_cmd
       disp("Open loop multivariable Bode plot: (will take a moment)")
       cmd="bode(Asys);";
@@ -245,7 +245,7 @@
     elseif (menuopt == 6)
       disp('Hinfinity gain of a system: (max gain over all j-omega)')
       disp('Example 1: Stable plant:')
-      cmd = "A = [0 1; -2 -1]; B = [0 ; 1]; C = [1 0]; sys_poles = eig(A)";
+      cmd = "A = [0, 1; -2, -1]; B = [0; 1]; C = [1, 0]; sys_poles = eig(A)";
       run_cmd
       disp('Pack into system format:')
       cmd = "Asys = ss2sys(A,B,C);";
@@ -269,7 +269,7 @@
         num2str(gmax),"."])
       prompt
       disp('Example 2: unstable plant')
-      cmd = "A = [0 1; 2 1]; B = [0 ; 1]; C = [1 0]; sys_poles = eig(A)";
+      cmd = "A = [0, 1; 2, 1]; B = [0; 1]; C = [1, 0]; sys_poles = eig(A)";
       run_cmd
       disp("Pack into system format:")
       cmd = "Bsys = ss2sys(A,B,C);";
@@ -287,19 +287,19 @@
       prompt
       disp("Example system: double integrator with output noise and")
       disp("input disturbance:")
-      A = [0 1; 0 0]
-      B1 = [0 0;1 0]
-      B2 = [0;1]
-      C1 = [1 0; 0 0]
-      C2 = [1 0]
+      A = [0, 1; 0, 0]
+      B1 = [0, 0; 1, 0]
+      B2 = [0; 1]
+      C1 = [1, 0; 0, 0]
+      C2 = [1, 0]
       D11 = zeros(2);
-      D12 = [0;1];
-      D21 = [0 1];
+      D12 = [0; 1];
+      D21 = [0, 1];
       D22 = 0;
-      D = [D11 D12; D21 D22]
+      D = [D11, D12; D21, D22]
       prompt
       disp("First: pack system:")
-      cmd="Asys = ss2sys(A,[B1 B2], [C1;C2] , D);";
+      cmd="Asys = ss2sys(A, [B1, B2], [C1; C2], D);";
       run_cmd
       prompt
       disp("Open loop multivariable Bode plot: (will take a moment)")
--- a/scripts/control/frdemo.m	Wed Dec 15 22:28:52 1999 +0000
+++ b/scripts/control/frdemo.m	Wed Dec 15 22:56:03 1999 +0000
@@ -57,7 +57,7 @@
           disp("\nContinuous system bode analysis\n");
           disp("Example #1:")
           disp("\nConsider the system sys1=");
-          sys1=tf2sys([1 1],[1 0 -1]);
+          sys1=tf2sys([1, 1], [1, 0, -1]);
           sysout(sys1);
           disp("\nPole-zero form can be obtained as follows:")
           cmd = "sysout(sys1,""zp"");";
@@ -87,7 +87,7 @@
           disp("")
           clc
           disp("Example #2, sys2=")
-          cmd = "sys2=zp2sys([1],[-1 -5],10);";
+          cmd = "sys2=zp2sys(1, [-1, -5], 10);";
           eval(cmd);
           cmd = "sysout(sys2);";
           eval(cmd);
@@ -101,7 +101,7 @@
           disp("")
           clc
           disp("Example #3, Consider the following state space system sys3=:\n");
-          cmd = "sys3=ss2sys([0 1; -1000 -1001], [0;1], [0 -891], 1);";
+          cmd = "sys3=ss2sys([0, 1; -1000, -1001], [0; 1], [0, -891], 1);";
           eval(cmd);
           cmd = "sysout(sys3);";
           eval(cmd);
@@ -175,7 +175,7 @@
           disp("Display bode plots of a discrete SISO system (dbode)\n")
       	  disp("Example #1, Consider the following discrete transfer");
           disp(" function:\n");
-          cmd = "sys1 = tf2sys([0.00100502 -0.00099502],[1 -2 1],0.001);";
+          cmd = "sys1 = tf2sys([0.00100502, -0.00099502], [1, -2, 1], 0.001);";
           disp(cmd);
           eval(cmd);
  	  cmd = "sysout(sys1)";
@@ -232,7 +232,7 @@
           disp("")
           clc
           disp("\nExample #3, Now consider the following state space system:\n");
-          cmd = "sys3 = ss2sys([.857 .0011;0 .99930],[1;1],[-.6318 .0057096],5.2, .001);";
+          cmd = "sys3 = ss2sys([.857, .0011; 0, .99930],[1;1],[-.6318, .0057096],5.2, .001);";
           disp(cmd);
           eval(cmd);
           cmd = "sysout(sys3);";
@@ -323,7 +323,7 @@
  	  disp("\nContinuous system nyquist analysis\n");
       	  disp("Display Nyquist plots of a SISO system (nyquist)\n")
       	  disp("Example #1, Consider the following transfer function:\n")
-          cmd = "sys1 = tf2sys([1],[1 0.8 1]);";
+          cmd = "sys1 = tf2sys(1, [1, 0.8, 1]);";
           disp(cmd);
           eval(cmd);
           disp("To examine the transfer function, use the command:");
@@ -376,7 +376,7 @@
           disp("")
           clc
           disp("\nExample #3, Consider the following state space system:\n")
-          cmd = "sys3 = ss2sys([0 1 0 0;0 0 1 0;0 0 0 1;0 0 -20 -12],[0;0;0;1],[50 100 0 0],0);";
+          cmd = "sys3 = ss2sys([0, 1, 0, 0; 0, 0, 1, 0; 0, 0, 0, 1; 0, 0, -20, -12],[0;0;0;1],[50, 100, 0, 0],0);";
           disp(cmd);
           eval(cmd); 
           disp("\nTo examine the state-space system, use the command:");
@@ -449,7 +449,7 @@
           disp(cmd); 
           eval(cmd);
       	  disp("\nExample #1, Consider the following transfer function:\n")
-      	  cmd = "sys1 = tf2sys([2 -3.4 1.5],[1 -1.6 0.8],T);";
+      	  cmd = "sys1 = tf2sys([2, -3.4, 1.5],[1, -1.6, 0.8],T);";
           disp(cmd); 
           eval(cmd);
           disp("To examine the transfer function, use the command:");
@@ -491,7 +491,7 @@
           disp("")
           clc
           disp("\nExample #2, Consider the following set of poles and zeros:\n")
-       	  cmd = "sys2 = zp2sys([0.98025 + 0.01397i;0.98025 - 0.01397i],[0.96079;0.99005],1,T);";
+       	  cmd = "sys2 = zp2sys([0.98025 + 0.01397i; 0.98025 - 0.01397i],[0.96079;0.99005],1,T);";
           disp(cmd); 
           eval(cmd);
           disp("\nTo examine the open loop zeros and poles, use the command:");
@@ -514,7 +514,7 @@
           disp("This example will use the same system used in the third");
           disp("example in the continuous nyquist demo.  First, that system");
           disp("will have to be re-entered useing the following commands:\n");
-          cmd = "sys3 = ss2sys([0 1 0 0;0 0 1 0;0 0 0 1;0 0 -20 -12],[0;0;0;1],[50 100 0 0],0);";
+          cmd = "sys3 = ss2sys([0, 1, 0, 0; 0, 0, 1, 0; 0, 0, 0, 1; 0, 0, -20, -12],[0;0;0;1],[50, 100, 0, 0],0);";
           disp(cmd); 
           eval(cmd); 
           disp("\nTo examine the state-space system, use the command:");
--- a/scripts/control/moddemo.m	Wed Dec 15 22:28:52 1999 +0000
+++ b/scripts/control/moddemo.m	Wed Dec 15 22:56:03 1999 +0000
@@ -50,9 +50,9 @@
       clc
       disp('Perform continuous to discrete time conversion (c2d)\n')
       disp('Example #1, Consider the following continuous time state space system:\n')
-      a=[0 1;-25 -4]
-      b=[0;1]
-      c=[1 1]
+      a=[0, 1; -25, -4]
+      b=[0; 1]
+      c=[1, 1]
       d=1
       prompt
       disp('\nTo convert this to a discrete time system (using a zero order hold),')
@@ -84,9 +84,9 @@
       clc
       disp('Convert from state space to zero / pole form (ss2zp)\n')
       disp('Example #1, Consider the following state space system:\n')
-      a=[0 3 1;-2 -4 5;5 8 2]
-      b=[0;5;2.5]
-      c=[6 -1.9 2]
+      a=[0, 3, 1; -2, -4, 5; 5, 8, 2]
+      b=[0; 5; 2.5]
+      c=[6, -1.9, 2]
       d=[-20]
       prompt
       disp(' ')
@@ -129,9 +129,9 @@
       clc
       disp('Convert from state space to transfer function (ss2tf)\n')
       disp('Example #1, Consider the following state space system:\n')
-      a=[0 1;-2 -3]
-      b=[1;1]
-      c=[1 9]
+      a=[0, 1; -2, -3]
+      b=[1; 1]
+      c=[1, 9]
       d=[1]
       prompt
       disp('\nTo find an equivalent transfer function for this system, use')
@@ -167,8 +167,8 @@
       clc
       disp('Convert from transfer function to zero / pole form (tf2zp)\n')
       disp('Example #1, Consider the following transfer function:\n')
-      num=[1 2 3 4 5 ]
-      den=[1 2 3 4 5 6 7]
+      num=[1, 2, 3, 4, 5, ]
+      den=[1, 2, 3, 4, 5, 6, 7]
       prompt
       disp('\nTo find the zeros and poles of this system, use the following command:\n')
       disp('[zer,pol] = tf2zp(num,den)\n')
--- a/scripts/control/sysrepdemo.m	Wed Dec 15 22:28:52 1999 +0000
+++ b/scripts/control/sysrepdemo.m	Wed Dec 15 22:56:03 1999 +0000
@@ -32,8 +32,8 @@
   page_screen_output = 1;
 
   disp('System representation demo:')
-  num = [5 -1];
-  denom = [1 -2 6];
+  num = [5, -1];
+  denom = [1, -2, 6];
   a = b = c = [];
   syschoice = -1;
   ch_init = 2;
@@ -134,11 +134,11 @@
             if(ssopt == 1)
               disp("Example: construct a system representation of a")
               disp("double integrator via state-space form")
-              cmd = "a = [0 1; 0 0];";
+              cmd = "a = [0, 1; 0, 0];";
               run_cmd
-              cmd = "b = [0 ; 1];";
+              cmd = "b = [0; 1];";
               run_cmd
-              cmd = "c = [1 0];";
+              cmd = "c = [1, 0];";
               run_cmd
               cmd = "sys = ss2sys(a,b,c);";
               run_cmd
@@ -157,11 +157,11 @@
               disp("This example is identical to the double-integrator,")
               disp("except that it is a discrete-time system, and so has")
               disp("a sampling interval.  We arbitrarily select T=1e-3.");
-              cmd = "a = [0 1; 0 0];";
+              cmd = "a = [0, 1; 0, 0];";
               run_cmd
-              cmd = "b = [0 ; 1];";
+              cmd = "b = [0; 1];";
               run_cmd
-              cmd = "c = [1 0];";
+              cmd = "c = [1, 0];";
               run_cmd
               cmd = "sys=ss2sys(a,b,c,[],1e-3);";
               run_cmd
@@ -198,7 +198,7 @@
               disp("A summing junction that computes e(t) = r(t) - y(t) may be");
               disp("constructed as follows:");
               disp("First, we set the matrix D:")
-              cmd = "D = [1 -1];";
+              cmd = "D = [1, -1];";
               run_cmd
               disp("ss2sys allows the initialization of signal and state names")
               disp("(see option 4), so we initialize these as follows:")
@@ -251,19 +251,19 @@
               disp(" ")
               disp("For example: the transfer function");
               disp(" ");
-              num = [5 -1];
-              denom = [1 -2 6];
+              num = [5, -1];
+              denom = [1, -2, 6];
               tfout(num,denom);
               disp(" ")
               disp("is generated by the following commands:")
-              cmd = "num = [5 -1]";
+              cmd = "num = [5, -1]";
               run_cmd
-              cmd = "denom = [1 -2 6]";
+              cmd = "denom = [1, -2, 6]";
               run_cmd
               cmd = "sys = tf2sys(num,denom);";
               run_cmd
 	      disp("alternatively, the system can be generated in a single command:");
-	      cmd = "sys = tf2sys([5 -1],[1 -2 6]);";
+	      cmd = "sys = tf2sys([5, -1], [1, -2, 6]);";
               run_cmd
               disp("Notice the output of sys: it is an Octave data structure.")
               disp("The details of its member variables are explained under")
@@ -280,7 +280,7 @@
               disp("coefficients of the numerator and denominator polynomials");
               disp("Discrete-time transfer functions require ")
               disp("the additional parameter of a sampling period:")
-              cmd = "sys=tf2sys([5 -1],[1 2 -6],1e-3);";
+              cmd = "sys=tf2sys([5, -1], [1, 2, -6], 1e-3);";
               run_cmd
               cmd = "sysout(sys)";
               run_cmd
@@ -295,7 +295,7 @@
 	      disp("double-integrator model of aircraft roll dynamics with ")
 	      disp("input \"aileron angle\" and output \"theta\".  A ")
 	      disp("system for this model is generated by the command")
-	      cmd = "aircraft=tf2sys(1,[1 0 0],0,\"aileron angle\",\"theta\");";	      run_cmd
+	      cmd = "aircraft=tf2sys(1, [1, 0, 0], 0,\"aileron angle\",\"theta\");";	      run_cmd
 	      disp("The sampling  time parameter 0 indicates that the system")
 	      disp("is continuous time.  A positive sampling time indicates a")
 	      disp("discrete-time system (or sampled data system).")
@@ -330,21 +330,21 @@
               disp("For example: the transfer function");
               disp(" ");
               k = 5;
-              num = [5 -1];
-              denom = [1 -2 6];
+              num = [5, -1];
+              denom = [1, -2, 6];
               zpout(num,denom,k);
               disp(" ")
               disp("is generated by the following commands:")
-              cmd = "num = [5 -1]";
+              cmd = "num = [5, -1]";
               run_cmd
-              cmd = "denom = [1 -2 6]";
+              cmd = "denom = [1, -2, 6]";
               run_cmd
 	      cmd = "k = 5";
 	      run_cmd
               cmd = "sys = zp2sys(num,denom,k);";
               run_cmd
 	      disp("alternatively, the system can be generated in a single command:");
-	      cmd = "sys = zp2sys([5 -1],[1 -2 6],5);";
+	      cmd = "sys = zp2sys([5, -1],[1, -2, 6],5);";
               run_cmd
               disp("Notice the output of sys: it is an Octave data structure.")
               disp("The details of its member variables are explained under")
@@ -361,7 +361,7 @@
               disp("of the system poles and zeros and a scalar leading coefficient.");
               disp(" ")
               disp("Discrete-time systems require the additional parameter of a sampling period:")
-              cmd = "sys=zp2sys([5 -1],[1 2 -6],5,1e-3);";
+              cmd = "sys=zp2sys([5, -1],[1, 2, -6],5,1e-3);";
               run_cmd
               cmd = "sysout(sys)";
               run_cmd
@@ -376,7 +376,7 @@
 	      disp("double-integrator model of aircraft roll dynamics with ")
 	      disp("input \"aileron angle\" and output \"theta\".  A ")
 	      disp("system for this model is generated by the command")
-	      cmd = "aircraft=zp2sys([],[0 0],1,0,\"aileron angle\",\"theta\");";	      run_cmd
+	      cmd = "aircraft=zp2sys([],[0, 0],1,0,\"aileron angle\",\"theta\");";	      run_cmd
 	      disp("The sampling  time parameter 0 indicates that the system")
 	      disp("is continuous time.  A positive sampling time indicates a")
 	      disp("discrete-time system (or sampled data system).")
@@ -455,7 +455,7 @@
     elseif(syschoice== ch_update)
       disp("The OCST system data structure format will store a system in the same format")
       disp("as that with which it was initialized.  For example, consider the following:")
-      cmd = "sys=zp2sys([1 2],[3 4 5],6)";
+      cmd = "sys=zp2sys([1, 2],[3, 4, 5],6)";
       run_cmd
       disp(" ")
       disp("Notice the internal variables in the structure include zer, pol, and k,")
@@ -473,7 +473,7 @@
     elseif(syschoice == ch_view)
       disp("The sysout command can be used to view a system in any desired format.")
       disp("For example, consider the system created as follows:")
-      cmd = "aircraft=zp2sys(1,[0 0],1,0,\"aileron angle\",\"theta\");";	      run_cmd
+      cmd = "aircraft=zp2sys(1,[0, 0],1,0,\"aileron angle\",\"theta\");";	      run_cmd
       disp("The system may be viewed in its default format (zero-pole) as follows")
       cmd = "sysout(aircraft)";
       run_cmd