X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?a=blobdiff_plain;f=octave_packages%2Fcontrol-2.3.52%2F__conred_sb16ad__.m;fp=octave_packages%2Fcontrol-2.3.52%2F__conred_sb16ad__.m;h=529f525d4d167e43912998a4cd2bbe1bc6b1eecd;hb=c880e8788dfc484bf23ce13fa2787f2c6bca4863;hp=0000000000000000000000000000000000000000;hpb=1705066eceaaea976f010f669ce8e972f3734b05;p=CreaPhase.git
diff --git a/octave_packages/control-2.3.52/__conred_sb16ad__.m b/octave_packages/control-2.3.52/__conred_sb16ad__.m
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+## Copyright (C) 2011 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope. If not, see .
+
+## -*- texinfo -*-
+## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} __conred_sb16ad__ (@var{method}, @dots{})
+## Backend for btaconred and spaconred.
+## @end deftypefn
+
+## Author: Lukas Reichlin
+## Created: December 2011
+## Version: 0.1
+
+function [Kr, info] = __conred_sb16ad__ (method, varargin)
+
+ if (nargin < 3)
+ print_usage ();
+ endif
+
+ if (method != "bta" && method != "spa")
+ error ("modred: invalid method");
+ endif
+
+ G = varargin{1};
+ K = varargin{2};
+ varargin = varargin(3:end);
+
+ if (! isa (G, "lti"))
+ error ("%sconred: first argument must be an LTI system", method);
+ endif
+
+ if (! isa (K, "lti"))
+ error ("%sconred: second argument must be an LTI system", method);
+ endif
+
+ if (nargin > 3) # *conred (G, K, ...)
+ if (is_real_scalar (varargin{1})) # *conred (G, K, nr)
+ varargin = horzcat (varargin(2:end), {"order"}, varargin(1));
+ endif
+ if (isstruct (varargin{1})) # *conred (G, K, opt, ...), *conred (G, K, nr, opt, ...)
+ varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end));
+ endif
+ ## order placed at the end such that nr from *conred (G, K, nr, ...)
+ ## and *conred (G, K, nr, opt, ...) overrides possible nr's from
+ ## key/value-pairs and inside opt struct (later keys override former keys,
+ ## nr > key/value > opt)
+ endif
+
+ nkv = numel (varargin); # number of keys and values
+
+ if (rem (nkv, 2))
+ error ("%sconred: keys and values must come in pairs", method);
+ endif
+
+ [a, b, c, d, tsam, scaled] = ssdata (G);
+ [ac, bc, cc, dc, tsamc, scaledc] = ssdata (K);
+ [p, m] = size (G);
+ [pc, mc] = size (K);
+ dt = isdt (G);
+
+ if (p != mc || m != pc)
+ error ("%sconred: dimensions of controller (%dx%d) and plant (%dx%d) don't match", \
+ method, pc, mc, p, c);
+ endif
+
+
+ ## default arguments
+ alpha = __modred_default_alpha__ (dt);
+ tol1 = 0.0;
+ tol2 = 0.0;
+ jobc = jobo = 0;
+ bf = true; # balancing-free
+ weight = 3;
+ equil = scaled && scaledc;
+ ordsel = 1;
+ ncr = 0;
+ negfb = false; # positive feedback controller
+
+
+ ## handle keys and values
+ for k = 1 : 2 : nkv
+ key = lower (varargin{k});
+ val = varargin{k+1};
+ switch (key)
+ case "weight"
+ switch (lower (val(1)))
+ case "n" # none
+ weight = 0;
+ case {"l", "o"} # left, output
+ weight = 1;
+ case {"r", "i"} # right, input
+ weight = 2;
+ case {"b", "p"} # both, performance
+ weight = 3;
+ otherwise
+ error ("%sconred: '%s' is an invalid value for key weight", method, val);
+ endswitch
+
+ case {"order", "ncr", "nr"}
+ [ncr, ordsel] = __modred_check_order__ (val, rows (ac));
+
+ case "tol1"
+ tol1 = __modred_check_tol__ (val, "tol1");
+
+ case "tol2"
+ tol2 = __modred_check_tol__ (val, "tol2");
+
+ case "alpha"
+ alpha = __modred_check_alpha__ (val, dt);
+
+ case "method"
+ switch (tolower (val))
+ case "sr"
+ bf = false;
+ case "bfsr"
+ bf = true;
+ otherwise
+ error ("modred: '%s' is an invalid approach", val);
+ endswitch
+
+ case {"jobc", "gram-ctrb"}
+ jobc = __modred_check_gram__ (val, "gram-ctrb");
+
+ case {"jobo", "gram-obsv"}
+ jobo = __modred_check_gram__ (val, "gram-obsv");
+
+ case {"equil", "equilibrate", "equilibration", "scale", "scaling"}
+ scaled = __modred_check_equil__ (val);
+
+ case "feedback"
+ negfb = __conred_check_feedback_sign__ (val);
+
+ otherwise
+ warning ("%sconred: invalid property name '%s' ignored", method, key);
+ endswitch
+ endfor
+
+
+ ## handle model reduction approach
+ if (method == "bta" && ! bf) # 'B': use the square-root Balance & Truncate method
+ jobmr = 0;
+ elseif (method == "bta" && bf) # 'F': use the balancing-free square-root Balance & Truncate method
+ jobmr = 1;
+ elseif (method == "spa" && ! bf) # 'S': use the square-root Singular Perturbation Approximation method
+ jobmr = 2;
+ elseif (method == "spa" && bf) # 'P': use the balancing-free square-root Singular Perturbation Approximation method
+ jobmr = 3;
+ else
+ error ("%smodred: invalid jobmr option"); # this should never happen
+ endif
+
+ ## handle negative feedback controllers
+ if (negfb)
+ [ac, bc, cc, dc] = ssdata (-K);
+ endif
+
+
+ ## perform model order reduction
+ [acr, bcr, ccr, dcr, ncr, hsvc, ncs] = slsb16ad (a, b, c, d, dt, equil, ncr, ordsel, alpha, jobmr, \
+ ac, bc, cc, dc, \
+ weight, jobc, jobo, tol1, tol2);
+
+ ## assemble reduced order controller
+ Kr = ss (acr, bcr, ccr, dcr, tsamc);
+
+ ## handle negative feedback controllers
+ if (negfb)
+ Kr = -Kr;
+ endif
+
+ ## assemble info struct
+ info = struct ("ncr", ncr, "ncs", ncs, "hsvc", hsvc);
+
+endfunction
+
+
+
+