X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?p=CreaPhase.git;a=blobdiff_plain;f=octave_packages%2Fcontrol-2.3.52%2F__time_response__.m;fp=octave_packages%2Fcontrol-2.3.52%2F__time_response__.m;h=81ca3d119f621ad94e20f36ca8c47fa488e42002;hp=0000000000000000000000000000000000000000;hb=f5f7a74bd8a4900f0b797da6783be80e11a68d86;hpb=1705066eceaaea976f010f669ce8e972f3734b05
diff --git a/octave_packages/control-2.3.52/__time_response__.m b/octave_packages/control-2.3.52/__time_response__.m
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+## Copyright (C) 2009, 2010 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 -*-
+## Common code for the time response functions step, impulse and initial.
+
+## Author: Lukas Reichlin
+## Created: October 2009
+## Version: 0.2
+
+function [y, t, x_arr] = __time_response__ (sys, resptype, plotflag, tfinal, dt, x0, sysname)
+
+ if (! isa (sys, "ss"))
+ sys = ss (sys); # sys must be proper
+ endif
+
+ if (is_real_vector (tfinal) && length (tfinal) > 1) # time vector t passed
+ dt = tfinal(2) - tfinal(1); # assume that t is regularly spaced
+ tfinal = tfinal(end);
+ endif
+
+ [A, B, C, D, tsam] = ssdata (sys);
+
+ discrete = ! isct (sys); # static gains are treated as analog systems
+ tsam = abs (tsam); # use 1 second if tsam is unspecified (-1)
+
+ if (discrete)
+ if (! isempty (dt))
+ warning ("time_response: argument dt has no effect on sampling time of discrete system");
+ endif
+
+ dt = tsam;
+ endif
+
+ [tfinal, dt] = __sim_horizon__ (A, discrete, tfinal, dt);
+
+ if (! discrete)
+ sys = c2d (sys, dt, "zoh");
+ endif
+
+ [F, G] = ssdata (sys); # matrices C and D don't change
+
+ n = rows (F); # number of states
+ m = columns (G); # number of inputs
+ p = rows (C); # number of outputs
+
+ ## time vector
+ t = reshape (0 : dt : tfinal, [], 1);
+ l_t = length (t);
+
+ switch (resptype)
+ case "initial"
+ str = ["Response of ", sysname, " to Initial Conditions"];
+ yfinal = zeros (p, 1);
+
+ ## preallocate memory
+ y = zeros (l_t, p);
+ x_arr = zeros (l_t, n);
+
+ ## initial conditions
+ x = reshape (x0, [], 1); # make sure that x is a column vector
+
+ if (n != length (x0) || ! is_real_vector (x0))
+ error ("initial: x0 must be a real vector with %d elements", n);
+ endif
+
+ ## simulation
+ for k = 1 : l_t
+ y(k, :) = C * x;
+ x_arr(k, :) = x;
+ x = F * x;
+ endfor
+
+ case "step"
+ str = ["Step Response of ", sysname];
+ yfinal = dcgain (sys);
+
+ ## preallocate memory
+ y = zeros (l_t, p, m);
+ x_arr = zeros (l_t, n, m);
+
+ for j = 1 : m # for every input channel
+ ## initial conditions
+ x = zeros (n, 1);
+ u = zeros (m, 1);
+ u(j) = 1;
+
+ ## simulation
+ for k = 1 : l_t
+ y(k, :, j) = C * x + D * u;
+ x_arr(k, :, j) = x;
+ x = F * x + G * u;
+ endfor
+ endfor
+
+ case "impulse"
+ str = ["Impulse Response of ", sysname];
+ yfinal = zeros (p, m);
+
+ ## preallocate memory
+ y = zeros (l_t, p, m);
+ x_arr = zeros (l_t, n, m);
+
+ for j = 1 : m # for every input channel
+ ## initial conditions
+ u = zeros (m, 1);
+ u(j) = 1;
+
+ if (discrete)
+ x = zeros (n, 1); # zero by definition
+ y(1, :, j) = D * u / dt;
+ x_arr(1, :, j) = x;
+ x = G * u / dt;
+ else
+ x = B * u; # B, not G!
+ y(1, :, j) = C * x;
+ x_arr(1, :, j) = x;
+ x = F * x;
+ endif
+
+ ## simulation
+ for k = 2 : l_t
+ y (k, :, j) = C * x;
+ x_arr(k, :, j) = x;
+ x = F * x;
+ endfor
+ endfor
+
+ if (discrete)
+ y *= dt;
+ x_arr *= dt;
+ endif
+
+ otherwise
+ error ("time_response: invalid response type");
+
+ endswitch
+
+
+ if (plotflag) # display plot
+
+ ## TODO: Set correct titles, especially for multi-input systems
+
+ stable = isstable (sys);
+ outname = get (sys, "outname");
+ outname = __labels__ (outname, "y_");
+
+ if (strcmp (resptype, "initial"))
+ cols = 1;
+ else
+ cols = m;
+ endif
+
+ if (discrete) # discrete system
+ for k = 1 : p
+ for j = 1 : cols
+
+ subplot (p, cols, (k-1)*cols+j);
+
+ if (stable)
+ stairs (t, [y(:, k, j), yfinal(k, j) * ones(l_t, 1)]);
+ else
+ stairs (t, y(:, k, j));
+ endif
+
+ grid ("on");
+
+ if (k == 1 && j == 1)
+ title (str);
+ endif
+
+ if (j == 1)
+ ylabel (sprintf ("Amplitude %s", outname{k}));
+ endif
+
+ endfor
+ endfor
+
+ xlabel ("Time [s]");
+
+ else # continuous system
+ for k = 1 : p
+ for j = 1 : cols
+
+ subplot (p, cols, (k-1)*cols+j);
+
+ if (stable)
+ plot (t, [y(:, k, j), yfinal(k, j) * ones(l_t, 1)]);
+ else
+ plot (t, y(:, k, j));
+ endif
+
+ grid ("on");
+
+ if (k == 1 && j == 1)
+ title (str);
+ endif
+
+ if (j == 1)
+ ylabel (sprintf ("Amplitude %s", outname{k}));
+ endif
+
+ endfor
+ endfor
+
+ xlabel ("Time [s]");
+
+ endif
+ endif
+
+endfunction
+
+
+function [tfinal, dt] = __sim_horizon__ (A, discrete, tfinal, Ts)
+
+ ## code based on __stepimp__.m of Kai P. Mueller and A. Scottedward Hodel
+
+ TOL = 1.0e-10; # values below TOL are assumed to be zero
+ N_MIN = 50; # min number of points
+ N_MAX = 2000; # max number of points
+ N_DEF = 1000; # default number of points
+ T_DEF = 10; # default simulation time
+
+ n = rows (A);
+ eigw = eig (A);
+
+ if (discrete)
+ ## perform bilinear transformation on poles in z
+ for k = 1 : n
+ pol = eigw(k);
+ if (abs (pol + 1) < TOL)
+ eigw(k) = 0;
+ else
+ eigw(k) = 2 / Ts * (pol - 1) / (pol + 1);
+ endif
+ endfor
+ endif
+
+ ## remove poles near zero from eigenvalue array eigw
+ nk = n;
+ for k = 1 : n
+ if (abs (real (eigw(k))) < TOL)
+ eigw(k) = 0;
+ nk -= 1;
+ endif
+ endfor
+
+ if (nk == 0)
+ if (isempty (tfinal))
+ tfinal = T_DEF;
+ endif
+
+ if (! discrete)
+ dt = tfinal / N_DEF;
+ endif
+ else
+ eigw = eigw(find (eigw));
+ eigw_max = max (abs (eigw));
+
+ if (! discrete)
+ dt = 0.2 * pi / eigw_max;
+ endif
+
+ if (isempty (tfinal))
+ eigw_min = min (abs (real (eigw)));
+ tfinal = 5.0 / eigw_min;
+
+ ## round up
+ yy = 10^(ceil (log10 (tfinal)) - 1);
+ tfinal = yy * ceil (tfinal / yy);
+ endif
+
+ if (! discrete)
+ N = tfinal / dt;
+
+ if (N < N_MIN)
+ dt = tfinal / N_MIN;
+ endif
+
+ if (N > N_MAX)
+ dt = tfinal / N_MAX;
+ endif
+ endif
+ endif
+
+ if (! isempty (Ts)) # catch case cont. system with dt specified
+ dt = Ts;
+ endif
+
+endfunction